diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index c78716a910..45dbf23cd2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -19,6 +19,7 @@ import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.Map;
+import java.util.NoSuchElementException;
 import java.util.Objects;
 
 /**
@@ -190,7 +191,11 @@ public class DifferentialDrivePoseEstimator {
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
-    if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+    try {
+      if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+        return;
+      }
+    } catch (NoSuchElementException ex) {
       return;
     }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index b6f11c44a4..c61a915952 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -20,6 +20,7 @@ import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.Map;
+import java.util.NoSuchElementException;
 import java.util.Objects;
 
 /**
@@ -178,7 +179,11 @@ public class MecanumDrivePoseEstimator {
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
-    if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+    try {
+      if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+        return;
+      }
+    } catch (NoSuchElementException ex) {
       return;
     }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index a36bf71e15..78d4cdf8da 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -21,6 +21,7 @@ import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.Arrays;
 import java.util.Map;
+import java.util.NoSuchElementException;
 import java.util.Objects;
 
 /**
@@ -180,7 +181,11 @@ public class SwerveDrivePoseEstimator {
    */
   public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
-    if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+    try {
+      if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
+        return;
+      }
+    } catch (NoSuchElementException ex) {
       return;
     }
 
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index 590991cd03..55118fde14 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -96,8 +96,9 @@ void DifferentialDrivePoseEstimator::AddVisionMeasurement(
     const Pose2d& visionRobotPose, units::second_t timestamp) {
   // Step 0: If this measurement is old enough to be outside the pose buffer's
   // timespan, skip.
-  if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
-      timestamp) {
+  if (!m_poseBuffer.GetInternalBuffer().empty() &&
+      m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
+          timestamp) {
     return;
   }
 
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
index dcb668fcd5..b32ce831ca 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
@@ -107,8 +107,9 @@ void frc::MecanumDrivePoseEstimator::AddVisionMeasurement(
     const Pose2d& visionRobotPose, units::second_t timestamp) {
   // Step 0: If this measurement is old enough to be outside the pose buffer's
   // timespan, skip.
-  if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
-      timestamp) {
+  if (!m_poseBuffer.GetInternalBuffer().empty() &&
+      m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
+          timestamp) {
     return;
   }
 
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index bff45cc05f..aaad4a559a 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -172,8 +172,9 @@ class SwerveDrivePoseEstimator {
                             units::second_t timestamp) {
     // Step 0: If this measurement is old enough to be outside the pose buffer's
     // timespan, skip.
-    if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
-        timestamp) {
+    if (!m_poseBuffer.GetInternalBuffer().empty() &&
+        m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
+            timestamp) {
       return;
     }