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The mapping problem has troubled robots for years now... The corridor is not a good place to map. The more landmarks present in an environment, the more accurate the map can be. You may have noticed that the results are never consistent in mapping. There are always small differences.

From my experiences with the turtlebot, the best way to improve mapping is:

increase the number of particles used
increase the update speed

That's about all one can do for the robot...

Best of luck,

-Hunter A.

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