diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
index 518052a1a4b8c..da22ef125fb19 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
+++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
@@ -144,10 +144,11 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     transformPointAndCalculate(pt, pt_map, angle_bin_index, range);
 
     // Ignore obstacle points exceed the range of the raw points
-    if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) {
-      continue;  // No raw point in this angle bin
-    } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
-      continue;  // Obstacle point exceeds the range of the raw points
+    // No raw point in this angle bin, or obstacle point exceeds the range of the raw points
+    if (
+      raw_pointcloud_angle_bins.at(angle_bin_index).empty() ||
+      range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
+      continue;
     }
     obstacle_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]);
   }
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
index dd934dea26c55..4f5b8b8eeabed 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
+++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
@@ -153,10 +153,11 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     const double dz = scan_z - obstacle_z;
 
     // Ignore obstacle points exceed the range of the raw points
-    if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) {
-      continue;  // No raw point in this angle bin
-    } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
-      continue;  // Obstacle point exceeds the range of the raw points
+    // No raw point in this angle bin, or obstacle point exceeds the range of the raw points
+    if (
+      raw_pointcloud_angle_bins.at(angle_bin_index).empty() ||
+      range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
+      continue;
     }
 
     if (dz > projection_dz_threshold_) {