We consider the first stage of the robot localization problem described as follows: a robot is at an unknown position in an indoor-environment and has to do a complete relocalization, that is, it has to enumerate all positions that it might be located at. This problem occurs if, for example, the robot &quot;wakes up&quot; after a breakdown (e.g., a power failure or maintenance works) and the possibility exists that it was moved meanwhile. An idealize