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for <param name="odom_model_type" value="diff-corrected"/> type robot,

try to keep

 <param name="odom_alpha1" value="0.005"/> 
 <param name="odom_alpha2" value="0.005"/> 

 <param name="odom_alpha3" value="0.01"/> 
 <param name="odom_alpha4" value="0.005"/>

and if your map environment has low dynamic obstacles trusting your map(param name="laser_z_hit") a bit more might improve the localization.

and also try and increase the "laser_max_beams" to allow more laser points for localization.