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The RoboPeak and other low-price lidar sensors tend to have trouble with dark surfaces that are at the far end of their sensing range (>50% of rated range); the Hokuyo URG-04LX and the Neato Lidar have similar issues in similar situations.

These sensors tend to do better a close range.

I can think of a few options:

• I'm not sure what your algorithm is doing, but you may be able take more samples and average out the noise
• Take advantage of better sensor performance at close range by starting your robot closer to the vehicle, doing the alignment, and then drive directly away from the vehicle
• Get a more powerful lidar like the Hokuyo UTM-30LX (Maybe Scanse?)