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I think you've answered your own question pretty well. If you're confident wrt your localization ability through other methods without SLAM (~3cm in an outdoor environment sounds good to me) and are using a pre-determined map, a simple obstacle avoidance method without the additional overhead of a full SLAM would do.
Also, the SLAM algorithm depends on feature point matching of different features. When you dont have any (or many) feature points, the SLAM process isn't going to be optimal. You could definitely use SLAM, but in this case when you've already solved problems with a simpler approach, is the overhead of a SLAM worth it?
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