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I believe I was getting similar results to this when using RoboEarth. Fortunately for me I had to simulate my detection on a light flooring on which it worked very well. Sometimes changes in the background when performing training can cause some issues so when I performed the training I also used a light plain background. Finally I used a bounding box almost perfect to the object rather than the default amount. This means you won't get any issues with other fluctuations around the training surface.
Like ddimarco said this method does not guarantee 100% stability so don't expect a 100% detection rate. It will definitely fluctuate and I also tried it with the object lying down and unfortunately it did not work.
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