# Is kld_z in amcl parameters mapped with standard statistical z table?

Hi, In AMCL.cfg file the kld_z parameter has a range from **0** to **1** and the default value of **0.99**. According to the paper on KLD sampling pg. 15 the probability 1-delta (the error between the true posterior and the sample based approximation is less than kld_err) has value **0.99**. This information shows that the kld_z is a probabilty.

In pf.c of amcl this kld_z probabilty parameter is directly feed in the function named **pf_resample_limit()** as variable pf->pop_z. while the Paper on KLD sampling on page 13 suggest that this kld_z probability should be mapped with standard statistical z table. But i cannot find any such mapping in the code.