diff --git a/cmvr-es/devices/camera/hikvision_camera/include/hikvision_camera.h b/cmvr-es/devices/camera/hikvision_camera/include/hikvision_camera.h
index dea0cb96..0e544ab0 100644
--- a/cmvr-es/devices/camera/hikvision_camera/include/hikvision_camera.h
+++ b/cmvr-es/devices/camera/hikvision_camera/include/hikvision_camera.h
@@ -1,6 +1,7 @@
 #ifndef CMVR_ES_HIKVISION_CAMERA_H
 #define CMVR_ES_HIKVISION_CAMERA_H
 
+#include <atomic>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -49,6 +50,7 @@ private:
     bool login_();
     bool startPreview_();
     void stopPreview_();
+    bool requestKeyFrame_();
     void stopRecordingUnlocked_();
     void fillIntrinsics_(Rs2Intrinsics& intrinsics) const;
     void setError_(const std::string& message);
@@ -87,6 +89,7 @@ private:
     std::mutex stream_mtx_;
     std::vector<uint8_t> es_stream_header_;
     bool has_es_stream_header_ = false;
+    std::atomic<bool> awaiting_key_frame_{false};
     int stream_count_ = 0;
 };
 
diff --git a/cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp b/cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp
index d3f0afde..b6255299 100644
--- a/cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp
+++ b/cmvr-es/devices/camera/hikvision_camera/src/hikvision_camera.cpp
@@ -334,6 +334,7 @@ bool HikvisionCamera::stop()
         stopRecordingUnlocked_();
     }
     state_.is_streaming = false;
+    awaiting_key_frame_.store(false, std::memory_order_release);
     stream_count_ = 0;
     resetStreamState_();
     stopPreview_();
@@ -462,12 +463,19 @@ bool HikvisionCamera::startStreaming()
         return false;
     }
 
-    if (stream_count_ == 0 && stream_frame_buffer_) {
-        stream_frame_buffer_->clear();
+    const bool first_stream = stream_count_ == 0;
+    if (first_stream) {
+        if (stream_frame_buffer_) {
+            stream_frame_buffer_->clear();
+        }
+        awaiting_key_frame_.store(true, std::memory_order_release);
     }
 
     state_.is_streaming = true;
     ++stream_count_;
+    if (first_stream && !requestKeyFrame_()) {
+        awaiting_key_frame_.store(false, std::memory_order_release);
+    }
     return true;
 }
 
@@ -479,6 +487,7 @@ void HikvisionCamera::stopStreaming()
     }
     if (stream_count_ == 0) {
         state_.is_streaming = false;
+        awaiting_key_frame_.store(false, std::memory_order_release);
     }
 }
 
@@ -508,6 +517,30 @@ bool HikvisionCamera::controlPtz(PtzCommand command, bool stop, int speed)
     return true;
 }
 
+bool HikvisionCamera::requestKeyFrame_()
+{
+    if (user_id_ < 0) {
+        CMVR_LOG(WARNING) << "[HikvisionCamera] skip key frame request: camera not logged in";
+        return false;
+    }
+
+    const bool is_sub_stream = stream_type_ == 1;
+    const BOOL success = is_sub_stream
+        ? NET_DVR_MakeKeyFrameSub(user_id_, channel_)
+        : NET_DVR_MakeKeyFrame(user_id_, channel_);
+    if (!success) {
+        CMVR_LOG(WARNING) << "[HikvisionCamera] "
+                          << (is_sub_stream ? "NET_DVR_MakeKeyFrameSub" : "NET_DVR_MakeKeyFrame")
+                          << " failed, error_code=" << NET_DVR_GetLastError();
+        return false;
+    }
+
+    CMVR_LOG(INFO) << "[HikvisionCamera] requested key frame"
+                   << ", channel=" << channel_
+                   << ", stream_type=" << stream_type_;
+    return true;
+}
+
 bool HikvisionCamera::executeJsonCommand(const std::string& request_json, std::string& response_json)
 {
     Json::Value root;
@@ -605,9 +638,18 @@ void HikvisionCamera::onEsData(
         return;
     }
 
+    const bool is_key_frame = packet_type == kHikvisionPacketVideoIFrame;
+    if (awaiting_key_frame_.load(std::memory_order_acquire)) {
+        if (!is_key_frame) {
+            return;
+        }
+        awaiting_key_frame_.store(false, std::memory_order_release);
+        CMVR_LOG(INFO) << "[HikvisionCamera] received first key frame after stream start";
+    }
+
     pushEncodedFrame_(buffer,
                       buffer_size,
-                      packet_type == kHikvisionPacketVideoIFrame,
+                      is_key_frame,
                       packet_width,
                       packet_height);
 }