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I believe I have found my answer. In the sensor_msgs/LaserScan Message, there are parameters range_min and range_max. Some of my laser scan ranges were coming in under the range_min value (both 0.0 and others) and those are causing the outlier points. I don't know why this is happening, but it can be fixed either by changing the data to conform to the specified max and mins, or by changing the max and mins to conform to the data.
If anyone else in the future faces this problem, you may use the code below to filter your laser scans, note that there are two options and you can comment out the first to use the second.
https://drive.google.com/file/d/0B-GsWiHCK1neaUJ1TTJjeEVtSzg/view?usp=sharing
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