NDT Mapping enviornment configuration

[Moon-sik]

I'm beginner of ROS and Autoware.
I want to mapping the road environment by using Autoware mapping tool.

But I have a question...
To make the map, I don't neet to measure and save the vehicle motion signal like velocity, yaw rate and etc.,
The NDT mapping tech. don't need other signals except point cloud data of lidar?

Thanks a alot..^^