diff --git a/rosys/vision/camera.py b/rosys/vision/camera.py
index 7a2482cd4..d7fb1231b 100644
--- a/rosys/vision/camera.py
+++ b/rosys/vision/camera.py
@@ -31,12 +31,11 @@ def captured_images(self) -> list[Image]:
 
     @property
     def latest_captured_image(self) -> Optional[Image]:
-        images = self.captured_images
-        return images[-1] if images else None
+        return next((i for i in reversed(self.captured_images) if i.data), None)
 
     @property
     def latest_detected_image(self) -> Optional[Image]:
-        return next((i for i in self.captured_images if i.detections), None)
+        return next((i for i in reversed(self.captured_images) if i.detections), None)
 
     def get_recent_images(self, current_time: float, timespan: float = 10.0) -> list[Image]:
         return [i for i in self.captured_images if i.time > current_time - timespan]