diff --git a/src/rm_auto_aim/armor_detector/src/armor_detector_node.cpp b/src/rm_auto_aim/armor_detector/src/armor_detector_node.cpp
index 5b8df5f..a521b92 100644
--- a/src/rm_auto_aim/armor_detector/src/armor_detector_node.cpp
+++ b/src/rm_auto_aim/armor_detector/src/armor_detector_node.cpp
@@ -356,7 +356,11 @@ void ArmorDetectorNode::processFrame(PendingFrame frame) {
 
         // Draw reprojection for each armor with pose
         for (const auto& armor : armors_msg.armors) {
-          if (armor.pose.position.x > 0) {  // Valid pose check
+          // Check depth (Z coordinate in camera frame) is positive for valid pose
+          double depth = std::sqrt(armor.pose.position.x * armor.pose.position.x +
+                                   armor.pose.position.y * armor.pose.position.y +
+                                   armor.pose.position.z * armor.pose.position.z);
+          if (depth > 0.1) {  // Valid depth check (at least 10cm away)
             drawArmorFromMsg(debug_img, armor, K, dist_coeffs, cv::Scalar(255, 0, 255), 2);
           }
         }