diff --git a/applications/calibration-multi/src/multicalibrate.cpp b/applications/calibration-multi/src/multicalibrate.cpp
index 074e778ed8323fed3f7a8625288b37f62e43f612..2292d178d70f0f7c68b79cbbf1cb9172cdd173be 100644
--- a/applications/calibration-multi/src/multicalibrate.cpp
+++ b/applications/calibration-multi/src/multicalibrate.cpp
@@ -393,6 +393,13 @@ double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camer
 	vector<uchar> inliers;
 	Mat F, E;
 	F = cv::findFundamentalMat(points1, points2, fm_method_, fm_ransac_threshold_, fm_confidence_, inliers);
+
+	if (F.empty())
+	{
+		LOG(ERROR) << "Fundamental matrix estimation failed. Possibly degenerate configuration?";
+		return INFINITY;
+	}
+
 	E = K2.t() * F * K1;
 
 	// Only include inliers