Here is thought, this is a fixed 3d environment and you lack training data or at least an algorithm to train. Why not use RL to learn good trajectories?
Like build a 3d environment of your home/room and generate images and trajectories in a game engine to generate image data to pretrain/train it, then for each run hand label only promising trajectories i.e. where the robot actually did better cleaning. That might make it a good RL exercise. You could also place some physical flags in the room that when the camera gets close enough it gets rewarded to automate these trajectory rewards.
I would begin in one room to practice this.