diff --git a/opendm/boundary.py b/opendm/boundary.py
index 55dc81b3..86ea5ae2 100644
--- a/opendm/boundary.py
+++ b/opendm/boundary.py
@@ -22,7 +22,7 @@ def compute_boundary_from_shots(reconstruction_json, buffer=0, reconstruction_of
 
     for shot_image in reconstruction['shots']:
         shot = reconstruction['shots'][shot_image]
-        if shot['gps_dop'] < 999999:
+        if shot.get('gps_dop', 999999) < 999999:
             camera = reconstruction['cameras'][shot['camera']]
 
             p = ogr.Geometry(ogr.wkbPoint)
diff --git a/opendm/dem/commands.py b/opendm/dem/commands.py
index aedf80cc..aa096e8b 100755
--- a/opendm/dem/commands.py
+++ b/opendm/dem/commands.py
@@ -333,7 +333,7 @@ def median_smoothing(geotiff_path, output_path, smoothing_iterations=1):
         dtype = img.dtypes[0]
         arr = img.read()[0]
 
-        nodata_locs = numpy.where(arr == nodata)
+        nodata_locs = arr == nodata
 
         # Median filter (careful, changing the value 5 might require tweaking)
         # the lines below. There's another numpy function that takes care of 
diff --git a/stages/odm_filterpoints.py b/stages/odm_filterpoints.py
index 75b4a0ad..416007ad 100644
--- a/stages/odm_filterpoints.py
+++ b/stages/odm_filterpoints.py
@@ -28,9 +28,12 @@ class ODMFilterPoints(types.ODM_Stage):
                 if reconstruction.is_georeferenced():
                     if not 'boundary' in outputs:
                         avg_gsd = gsd.opensfm_reconstruction_average_gsd(tree.opensfm_reconstruction)
-                        outputs['boundary'] = compute_boundary_from_shots(tree.opensfm_reconstruction, avg_gsd * 20, reconstruction.get_proj_offset()) # 20 is arbitrary
-                        if outputs['boundary'] is None:
-                            log.ODM_WARNING("Cannot compute boundary from camera shots")
+                        if avg_gsd is not None:
+                            outputs['boundary'] = compute_boundary_from_shots(tree.opensfm_reconstruction, avg_gsd * 20, reconstruction.get_proj_offset()) # 20 is arbitrary
+                            if outputs['boundary'] is None:
+                                log.ODM_WANING("Cannot compute boundary from camera shots")
+                        else:
+                            log.ODM_WARNING("Cannot compute boundary (GSD cannot be estimated)")
                     else:
                         log.ODM_WARNING("--auto-boundary set but so is --boundary, will use --boundary")
                 else: