Good morning

The Issue: I am experiencing a recurring issue with my Tapo RV30 where it creates "ghost walls" and diagonal lines that don't exist in reality. On the attached map, you can see the robot stopped following the actual boundaries of the green zone (Living Room) and instead drew a diagonal wall across the space.

Environmental Context: On the side where the map gets distorted, there is a large window that starts just 10cm above the floor. I have noticed that when I close the curtains, the mapping seems to improve slightly, but it still doesn't result in a completely correct map.

What I've tried so far: Whenever this happens, I restore a previous backup of the correct map. However, as soon as the robot starts a new cleaning cycle or schedule, it almost immediately distorts the map again by adding these slanted walls and incorrect room layouts. It seems to "override" the correct backup with its own incorrect live scans.

My Question: What could be causing this persistent map drift despite the curtains being closed? Are there any solutions to stop the robot from constantly corrupting its own map data, or a way to make it ignore the reflections from the low window more effectively?

I am looking for solutions or insights from anyone who has managed to fix this type of recurring map corruption.

Thanks in advance!
Dieter