diff --git a/src/resolve_robotics_uri_py/resolve_robotics_uri_py.py b/src/resolve_robotics_uri_py/resolve_robotics_uri_py.py
index 507e82b..e77a54d 100644
--- a/src/resolve_robotics_uri_py/resolve_robotics_uri_py.py
+++ b/src/resolve_robotics_uri_py/resolve_robotics_uri_py.py
@@ -90,8 +90,9 @@ def resolve_robotics_uri(uri: str) -> pathlib.Path:
         FileNotFoundError: If no file corresponding to the URI is found.
     """
 
-    # If the URI has no scheme, use by default file://
-    if ":/" not in uri:
+    # If the URI has no scheme, use by default file:// which maps the resolved input
+    # path to a URI with empty authority
+    if not any(uri.startswith(scheme) for scheme in SupportedSchemes):
         uri = f"file://{pathlib.Path(uri).resolve()}"
 
     # Get scheme from URI