diff --git a/perception_dataset/utils/misc.py b/perception_dataset/utils/misc.py
index 029b9459..a38bb304 100644
--- a/perception_dataset/utils/misc.py
+++ b/perception_dataset/utils/misc.py
@@ -56,6 +56,8 @@ def get_lidar_camera_synced_frame_info(
     for lidar_index, lidar_timestamp in enumerate(lidar_timestamp_list):
         if lidar_index >= num_load_frames:
             break
+        if current_image_index >= len(image_timestamp_list):
+            break
         image_timestamp = image_timestamp_list[current_image_index]
 
         while image_timestamp - lidar_timestamp < lidar_to_camera_latency_sec - (
diff --git a/tests/utils/test_misc.py b/tests/utils/test_misc.py
index c378a7a3..edd5abef 100644
--- a/tests/utils/test_misc.py
+++ b/tests/utils/test_misc.py
@@ -164,3 +164,22 @@ def test_get_lidar_camera_synced_frame_info_num_load_frames():
         num_load_frames=num_load_frames,
     )
     assert_synced_frame_info_list(expected, synced_frame_info_list)
+
+
+def test_get_lidar_camera_synced_frame_info_too_large_num_load_frames():
+    # Test case where len(lidar_timestamp_list) >= num_load_frames > len(image_timestamp_list)
+    image_timestamp_list = [0.552, 0.652]
+    lidar_timestamp_list = [0.4, 0.499, 0.6]
+
+    expected = [[0, 0, None], [1, 1, None]]
+    num_load_frames = 3
+
+    synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
+        image_timestamp_list=image_timestamp_list,
+        lidar_timestamp_list=lidar_timestamp_list,
+        lidar_to_camera_latency_sec=0.162,
+        system_scan_period_sec=0.1,
+        max_camera_jitter_sec=0.03,
+        num_load_frames=num_load_frames,
+    )
+    assert_synced_frame_info_list(expected, synced_frame_info_list)