diff --git a/lib/debugobjects.c b/lib/debugobjects.c
index 12e2e42e6a31..621394e2242d 100644
--- a/lib/debugobjects.c
+++ b/lib/debugobjects.c
@@ -711,6 +711,15 @@ static struct debug_obj *lookup_object_or_alloc(void *addr, struct debug_bucket
 	return NULL;
 }
 
+static inline bool task_pi_blocked(void)
+{
+#ifdef CONFIG_PREEMPT_RT
+	return current->pi_blocked_on != NULL;
+#else
+	return false;
+#endif
+}
+
 static void debug_objects_fill_pool(void)
 {
 	if (!static_branch_likely(&obj_cache_enabled))
@@ -726,12 +735,21 @@ static void debug_objects_fill_pool(void)
 		return;
 
 	/*
-	 * On RT enabled kernels the pool refill must happen in preemptible
-	 * context -- for !RT kernels we rely on the fact that spinlock_t and
-	 * raw_spinlock_t are basically the same type and this lock-type
-	 * inversion works just fine.
+	 * On RT enabled kernels the pool refill must happen in a context that
+	 * can take a sleeping spinlock_t.  preemptible() catches the
+	 * preempt_count and IRQ-disabled cases, but not a task that is already
+	 * enqueued as a waiter on an rt_mutex (current->pi_blocked_on != NULL).
+	 * The latter happens for example inside futex_lock_pi(), between
+	 * __rt_mutex_start_proxy_lock() and rt_mutex_wait_proxy_lock(), where
+	 * hrtimer_sleeper_start_expires() reaches debug_objects_fill_pool().
+	 * Acquiring a sleeping spinlock_t in that state corrupts the PI chain
+	 * and trips lockdep_assert(!current->pi_blocked_on) in rtlock_lock().
+	 *
+	 * For !RT kernels spinlock_t and raw_spinlock_t are basically the same
+	 * type and this lock-type inversion works just fine.
 	 */
-	if (!IS_ENABLED(CONFIG_PREEMPT_RT) || preemptible() || system_state < SYSTEM_SCHEDULING) {
+	if (!IS_ENABLED(CONFIG_PREEMPT_RT) || system_state < SYSTEM_SCHEDULING ||
+	    (preemptible() && !task_pi_blocked())) {
 		/*
 		 * Annotate away the spinlock_t inside raw_spinlock_t warning
 		 * by temporarily raising the wait-type to LD_WAIT_CONFIG, matching