diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index b4e7850..aa0f6e8 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -254,7 +254,8 @@ try:
         particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
         est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
         calc_weight(est_pose, landmark_values)
-        print("est_pose weight: ", est_pose.weight)
+        if est_pose.weight > 10**-23:
+            break
 
         if showGUI:
             # Draw map