diff --git a/common/include/pcl/common/point_tests.h b/common/include/pcl/common/point_tests.h
index abd58c3508a..dc11edef481 100644
--- a/common/include/pcl/common/point_tests.h
+++ b/common/include/pcl/common/point_tests.h
@@ -69,8 +69,13 @@ namespace pcl
   template<> inline bool isFinite<pcl::BRISKSignature512>(const pcl::BRISKSignature512&) { return (true); }
   template<> inline bool isFinite<pcl::BorderDescription>(const pcl::BorderDescription &) { return true; }
   template<> inline bool isFinite<pcl::Boundary>(const pcl::Boundary&) { return (true); }
+  template<> inline bool isFinite<pcl::CPPFSignature>(const pcl::CPPFSignature&) { return (true); }
   template<> inline bool isFinite<pcl::ESFSignature640>(const pcl::ESFSignature640&) { return (true); }
   template<> inline bool isFinite<pcl::FPFHSignature33>(const pcl::FPFHSignature33&) { return (true); }
+  template<> inline bool isFinite<pcl::GASDSignature512>(const pcl::GASDSignature512&) { return (true); }
+  template<> inline bool isFinite<pcl::GASDSignature984>(const pcl::GASDSignature984&) { return (true); }
+  template<> inline bool isFinite<pcl::GASDSignature7992>(const pcl::GASDSignature7992&) { return (true); }
+  template<> inline bool isFinite<pcl::GRSDSignature21>(const pcl::GRSDSignature21&) { return (true); }
   template<> inline bool isFinite<pcl::Intensity>(const pcl::Intensity&) { return (true); }
   template<> inline bool isFinite<pcl::IntensityGradient>(const pcl::IntensityGradient&) { return (true); }
   template<> inline bool isFinite<pcl::Label>(const pcl::Label&) { return (true); }
@@ -79,7 +84,12 @@ namespace pcl
   template<> inline bool isFinite<pcl::PFHRGBSignature250>(const pcl::PFHRGBSignature250&) { return (true); }
   template<> inline bool isFinite<pcl::PFHSignature125>(const pcl::PFHSignature125&) { return (true); }
   template<> inline bool isFinite<pcl::PPFRGBSignature>(const pcl::PPFRGBSignature&) { return (true); }
-  template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature&) { return (true); }
+  
+  template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature& pt)
+  {
+    return std::isfinite(pt.f1) && std::isfinite(pt.f2) && std::isfinite(pt.f3) && std::isfinite(pt.f4) && std::isfinite(pt.alpha_m);
+  }
+
   template<> inline bool isFinite<pcl::PrincipalCurvatures>(const pcl::PrincipalCurvatures&) { return (true); }
   template<> inline bool isFinite<pcl::PrincipalRadiiRSD>(const pcl::PrincipalRadiiRSD&) { return (true); }
   template<> inline bool isFinite<pcl::RGB>(const pcl::RGB&) { return (true); }
diff --git a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
index 7e0cf749311..ad5f4a725ed 100644
--- a/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
+++ b/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
@@ -42,6 +42,7 @@
 #ifndef PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
 #define PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
 
+#include <pcl/common/point_tests.h> // for pcl::isFinite
 #include <pcl/console/print.h>
 #include <pcl/pcl_macros.h>
 
@@ -309,6 +310,9 @@ PyramidFeatureHistogram<PointFeature>::compute()
 
   for (const auto& point : *input_) {
     std::vector<float> feature_vector;
+    // NaN is converted to very high number that gives out of bound exception.
+    if (!pcl::isFinite(point))
+      continue;
     convertFeatureToVector(point, feature_vector);
     addFeature(feature_vector);
   }
diff --git a/test/registration/test_registration.cpp b/test/registration/test_registration.cpp
index 045fb2eebce..2c33e690cd6 100644
--- a/test/registration/test_registration.cpp
+++ b/test/registration/test_registration.cpp
@@ -694,7 +694,7 @@ TEST (PCL, PyramidFeatureHistogram)
   pyramid_target->compute ();
 
   float similarity_value = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
-  EXPECT_NEAR (similarity_value, 0.74101555347442627, 1e-4);
+  EXPECT_NEAR (similarity_value, 0.738492727, 1e-4);
 
   std::vector<std::pair<float, float> > dim_range_target2;
   for (std::size_t i = 0; i < 3; ++i) dim_range_target2.emplace_back(static_cast<float> (-M_PI) * 5.0f, static_cast<float> (M_PI) * 5.0f);
@@ -707,7 +707,7 @@ TEST (PCL, PyramidFeatureHistogram)
   pyramid_target->compute ();
 
   float similarity_value2 = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
-  EXPECT_NEAR (similarity_value2, 0.80097091197967529, 1e-4);
+  EXPECT_NEAR (similarity_value2, 0.798465133, 1e-4);
 
 
   std::vector<std::pair<float, float> > dim_range_target3;
@@ -721,7 +721,7 @@ TEST (PCL, PyramidFeatureHistogram)
   pyramid_target->compute ();
 
   float similarity_value3 = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
-  EXPECT_NEAR (similarity_value3, 0.87623238563537598, 1e-3);
+  EXPECT_NEAR (similarity_value3, 0.873699546, 1e-3);
 }
 
 // Suat G: disabled, since the transformation does not look correct.