diff --git a/rally2.py b/rally2.py
index 37fb9a5..6cf6829 100644
--- a/rally2.py
+++ b/rally2.py
@@ -223,17 +223,16 @@ def main():
         LANDMARKS[0]
     ]
 
-    particles = initialize_particles(NUM_PARTICLES)
-
-    # The estimate of the robots current pose
-    est_pose = particle.estimate_pose(particles)
-
     noah = robot.Robot()  # Noah er vores robots navn
     cam = camera.Camera(0, 'arlo', useCaptureThread=True)
 
     for landmark in landmark_order:
         print(f"Going to landmark {landmark}")
         while True:
+            particles = initialize_particles(NUM_PARTICLES)
+
+            # The estimate of the robots current pose
+            est_pose = particle.estimate_pose(particles)
             particles, est_pose = look_around(noah, particles, cam, est_pose)
             print(est_pose)
             particles, est_pose = turn_towards_landmark(noah, particles, est_pose, landmark)