How to make a dynamic taxonomy view/block varied according to different terms

It sounds stupid, but I really can't make a block which dynamically shows other posts under the same vocabulary as the post currently shown in the page. The nearest method seems like using filter to constrain the nodes under a specified term, however, not a dynamic argument which can be applied to various independent terms.

I hope someone will give me a hand, I really dont have idea how to make such a view in drupal 6.0.

Many thanks