AMCL does need a map, it is purely a localisation driver. Pmap is able to build a map from a combination of odometry and range readings making it a slam(localisation and mapping), unfortunately pmap is also an offline only processor (the player driver component of it is for accurately capturing the data to process).

So apart from being an interesting challenge in its own right, pmap can be used to generate maps for amcl. If you already have a map of the area you can use AMCL directly with that and skip the pmap step.


On 28/08/07, Dongqing <> wrote:


I am not quite sure what are pmap and acml driver for?
Does acml need a map first to do the realtime localization?
If not, why we need pmap utilities?


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