diff --git a/sys/v4l2/gstv4l2bufferpool.c b/sys/v4l2/gstv4l2bufferpool.c
index 8851571f9f..d00d123e82 100644
--- a/sys/v4l2/gstv4l2bufferpool.c
+++ b/sys/v4l2/gstv4l2bufferpool.c
@@ -623,8 +623,10 @@ gst_v4l2_buffer_pool_start (GstBufferPool * bpool)
           &max_buffers))
     goto wrong_config;
 
-  /* TODO Also consider min_buffers_for_output when implemented */
-  min_latency = MAX (GST_V4L2_MIN_BUFFERS, obj->min_buffers_for_capture);
+  if (V4L2_TYPE_IS_OUTPUT (obj->type))
+    min_latency = MAX (GST_V4L2_MIN_BUFFERS, obj->min_buffers_for_output);
+  else
+    min_latency = MAX (GST_V4L2_MIN_BUFFERS, obj->min_buffers_for_capture);
 
   switch (obj->mode) {
     case GST_V4L2_IO_RW:
diff --git a/sys/v4l2/gstv4l2object.c b/sys/v4l2/gstv4l2object.c
index 8021490d2b..9073a48ecd 100644
--- a/sys/v4l2/gstv4l2object.c
+++ b/sys/v4l2/gstv4l2object.c
@@ -3472,10 +3472,13 @@ gst_v4l2_object_propose_allocation (GstV4l2Object * obj, GstQuery * query)
   if (v4l2_ioctl (obj->video_fd, VIDIOC_G_CTRL, &ctl) >= 0) {
     GST_DEBUG_OBJECT (obj->element, "driver require a miminum of %d buffers",
         ctl.value);
-
-    min = MAX (ctl.value, GST_V4L2_MIN_BUFFERS);
+    obj->min_buffers_for_output = ctl.value;
+  } else {
+    obj->min_buffers_for_output = 0;
   }
 
+  min = MAX (obj->min_buffers_for_output, GST_V4L2_MIN_BUFFERS);
+
   gst_query_add_allocation_pool (query, pool, size, min, max);
 
   /* we also support various metadata */
diff --git a/sys/v4l2/gstv4l2object.h b/sys/v4l2/gstv4l2object.h
index c13cd64568..141f62df79 100644
--- a/sys/v4l2/gstv4l2object.h
+++ b/sys/v4l2/gstv4l2object.h
@@ -121,6 +121,9 @@ struct _GstV4l2Object {
    * calculate the minimum latency of a m2m decoder. */
   guint32 min_buffers_for_capture;
 
+  /* This will be set if supported in propose allocation. */
+  guint32 min_buffers_for_output;
+
   /* wanted mode */
   GstV4l2IOMode req_mode;