diff --git a/src/localizer.cpp b/src/localizer.cpp
index 490dc1e..6e6449e 100644
--- a/src/localizer.cpp
+++ b/src/localizer.cpp
@@ -60,24 +60,28 @@ void Localizer::correctWithScanCV(const LaserScan& scan, const GridMap& map,
             for(int ri=0;ri<3;++ri){b2[ri]-=w*J[ri]*res;for(int ci=0;ci<3;++ci)H[ri*3+ci]+=w*J[ri]*J[ci];}
             ++n_pts;
         }
-        if(n_pts>10){double det=H[0]*(H[4]*H[8]-H[5]*H[7])-H[1]*(H[3]*H[8]-H[5]*H[6])+H[2]*(H[3]*H[7]-H[4]*H[6]);
-            if(std::abs(det)>1e-12){double inv=1.0/det;
-                double dx=(H[4]*H[8]-H[5]*H[7])*b2[0]+(H[2]*H[7]-H[1]*H[8])*b2[1]+(H[1]*H[5]-H[2]*H[4])*b2[2];
-                double dy=(H[5]*H[6]-H[3]*H[8])*b2[0]+(H[0]*H[8]-H[2]*H[6])*b2[1]+(H[2]*H[3]-H[0]*H[5])*b2[2];
-                double da=(H[3]*H[7]-H[4]*H[6])*b2[0]+(H[1]*H[6]-H[0]*H[7])*b2[1]+(H[0]*H[4]-H[1]*H[3])*b2[2];
-                dx=limit(dx*inv,-0.10,0.10);dy=limit(dy*inv,-0.10,0.10);da=limit(da*inv,-0.10,0.10);
-                correction_.x+=0.2*dx;correction_.y+=0.2*dy;correction_.yaw+=0.2*da;
-                correction_.x=limit(correction_.x,-0.30,0.30);correction_.y=limit(correction_.y,-0.30,0.30);
-                correction_.yaw=limit(correction_.yaw,-0.25,0.25);
-                loc_dx_=correction_.x;loc_dy_=correction_.y;loc_dyaw_=correction_.yaw;
-                double loc_rms=std::sqrt(sum_r2/n_pts);
-                loc_rms_=loc_rms;
-                loc_conf_=std::min(1.0,n_pts/80.0)*std::min(1.0,0.08/std::max(loc_rms,1e-3))*0.9;
-                loc_lines_=n_pts/10;
-                return;  // success, skip Hough fallback
-            }
+        double loc_rms = (n_pts>0) ? std::sqrt(sum_r2/n_pts) : 999.0;
+        double conf_pts = std::min(1.0, n_pts/80.0);
+        double conf_rms = std::min(1.0, 0.08/std::max(loc_rms,1e-3));
+        double quality = conf_pts * conf_rms;
+        loc_rms_=loc_rms; loc_conf_=quality*0.9; loc_lines_=n_pts/10;
+
+        // Only apply correction if quality is adequate
+        double det=H[0]*(H[4]*H[8]-H[5]*H[7])-H[1]*(H[3]*H[8]-H[5]*H[6])+H[2]*(H[3]*H[7]-H[4]*H[6]);
+        if (n_pts>20 && quality>0.25 && std::abs(det)>1e-12) {
+            double inv=1.0/det;
+            double dx=(H[4]*H[8]-H[5]*H[7])*b2[0]+(H[2]*H[7]-H[1]*H[8])*b2[1]+(H[1]*H[5]-H[2]*H[4])*b2[2];
+            double dy=(H[5]*H[6]-H[3]*H[8])*b2[0]+(H[0]*H[8]-H[2]*H[6])*b2[1]+(H[2]*H[3]-H[0]*H[5])*b2[2];
+            double da=(H[3]*H[7]-H[4]*H[6])*b2[0]+(H[1]*H[6]-H[0]*H[7])*b2[1]+(H[0]*H[4]-H[1]*H[3])*b2[2];
+            dx=limit(dx*inv,-0.10,0.10);dy=limit(dy*inv,-0.10,0.10);da=limit(da*inv,-0.10,0.10);
+            correction_.x+=0.2*dx;correction_.y+=0.2*dy;correction_.yaw+=0.2*da;
+            correction_.x=limit(correction_.x,-0.30,0.30);correction_.y=limit(correction_.y,-0.30,0.30);
+            correction_.yaw=limit(correction_.yaw,-0.25,0.25);
+            loc_dx_=correction_.x;loc_dy_=correction_.y;loc_dyaw_=correction_.yaw;
+            return;
         }
-        // Fence residual failed → fall through to Hough
+        // Quality insufficient — don't update correction, fall through to Hough
+        if (use_fence_) return;  // fence exists: trust quality gate, skip Hough entirely
     }
 
     // ── 2. Hough fallback: render scan to image + line detection ──