diff --git a/include/hpp/fcl/internal/traversal_node_hfield_shape.h b/include/hpp/fcl/internal/traversal_node_hfield_shape.h
index 47f4bb8d8bb6251a179076bacd25fb7769abe93f..1774c68f641c24091dc7cc1e4cd59a3c295f85c2 100644
--- a/include/hpp/fcl/internal/traversal_node_hfield_shape.h
+++ b/include/hpp/fcl/internal/traversal_node_hfield_shape.h
@@ -486,6 +486,12 @@ class HeightFieldShapeCollisionTraversalNode
     ConvexTriangle convex1, convex2;
     details::buildConvexTriangles(node, *this->model1, convex1, convex2);
 
+    // Compute aabb_local for BoundingVolumeGuess case in the GJK solver
+    if (nsolver->gjk_initial_guess == GJKInitialGuess::BoundingVolumeGuess) {
+      convex1.computeLocalAABB();
+      convex2.computeLocalAABB();
+    }
+
     FCL_REAL distance;
     //    Vec3f contact_point, normal;
     Vec3f c1, c2, normal, normal_top;