diff --git a/src/libcamera/pipeline/ipu3/ipu3.cpp b/src/libcamera/pipeline/ipu3/ipu3.cpp
index f5d768f9f87f..bb8d4ce644ca 100644
--- a/src/libcamera/pipeline/ipu3/ipu3.cpp
+++ b/src/libcamera/pipeline/ipu3/ipu3.cpp
@@ -146,6 +146,7 @@ public:
 	std::string name_;
 	ImgUDevice::ImgUOutput *device_;
 	const StreamConfiguration *cfg_;
+	unsigned int bufferCount;
 };
 
 class PipelineHandlerIPU3 : public PipelineHandler
@@ -473,6 +474,9 @@ int PipelineHandlerIPU3::start(Camera *camera)
 	ImgUDevice *imgu = data->imgu_;
 	int ret;
 
+	if (!data->outStream_.active_)
+		data->outStream_.bufferCount = 0;
+
 	/*
 	 * Start the ImgU video devices, buffers will be queued to the
 	 * ImgU output and viewfinder when requests will be queued.
@@ -513,20 +517,40 @@ void PipelineHandlerIPU3::stop(Camera *camera)
 int PipelineHandlerIPU3::queueRequest(Camera *camera, Request *request)
 {
 	IPU3CameraData *data = cameraData(camera);
-	V4L2Device *output = data->imgu_->output_.dev;
-	IPU3Stream *stream = &data->outStream_;
+	IPU3Stream *output = &data->outStream_;
+	bool outputRequested = false;
 
-	/* Queue a buffer to the ImgU output for capture. */
-	Buffer *buffer = request->findBuffer(stream);
-	if (!buffer) {
-		LOG(IPU3, Error)
-			<< "Attempt to queue request with invalid stream";
-		return -ENOENT;
+	for (auto const &bufferMap : request->bufferMap()) {
+		IPU3Stream *stream = static_cast<IPU3Stream *>(bufferMap.first);
+		Buffer *buffer = bufferMap.second;
+
+		int ret = stream->device_->dev->queueBuffer(buffer);
+		if (ret)
+			continue;
+
+		if (stream == output)
+			outputRequested = true;
 	}
 
-	int ret = output->queueBuffer(buffer);
-	if (ret < 0)
-		return ret;
+	/*
+	 * The output node should be queued with buffers even if not part
+	 * of the request, otherwise the ImgU stalls.
+	 *
+	 * Use buffers from the stream's pool or the internal pool depending
+	 * if the output stream has been configured or not.
+	 */
+	if (!outputRequested) {
+		BufferPool *pool = output->active_ ? &output->bufferPool()
+						   : output->device_->pool;
+		Buffer *buffer = &pool->buffers()[output->bufferCount];
+		unsigned int numBuffers = pool->count();
+
+		int ret = output->device_->dev->queueBuffer(buffer);
+		if (ret)
+			return ret;
+
+		output->bufferCount = (output->bufferCount + 1) % numBuffers;
+	}
 
 	PipelineHandler::queueRequest(camera, request);