The robot scanning is creating false areas E. G. When it sees through the glass kitchen door, it is adding the entire back yard to the map. 

This makes the map much larger, more cluttered and more difficult to use and manage. This is the era of AI - it should be simple enough to define the absolute boundaries of the house to set the external limits of the map. In this example, set a 'door line' for the glass kitchen door which the scanning process should regard as a wall and the limit of the room. Very simple logic to code in the mapping process - call it wall limits or boundary marking, where scanning and all activity stop.