Hi Eric,

Were there any people moving around in the laser scan while the robot was
stationary? 
During the experiement, i tried to isolate the robot so that the environment
remained unchanged throughout the whole experiment. 

What does the laser scan look like? Is it noisy?
Personally, i don't think the laser is scan is noisy. I have already
attached the picture of the laser scan for your reference. 
http://www.youtube.com/watch?v=5NV0g0FMX6Q
http://ros-users.122217.n3.nabble.com/file/n2203293/Laser_scan_information.png 

Meanwhile, i also tried to change the parameter for "sigma",
"max_correspondence_dist" and "orientation_neighbourhood" to increase
tolerence using these setting

sigma = 1
max_correspondence_dist = 0.4
orientation_neighbourhood = 100

What other parameters would you suggest to enhance the result ?
sorry to trouble you.

With thanks,
Zhiping
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