Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Cleaning up the map as you're suggesting shouldn't hurt localization performance, but probably won't help either. By default, amcl uses a likelihood field model when interpreting laser data; this model has the effect of "blurring" the obstacles in the map, so moving a pixel a bit one way or the other won't have a huge effect.

If you compare performance with both maps, I'd be interested to know the results.