So, the factory reset did the trick for image capture for obstacles.

Now, when a job is done, I can go through the pictures and tell it if this is a “no go” area so it will just avoid it permanently, or if it just temporary and something I forgot to get out of the way. And the neat bit – when you mark things as temporary, and get whatever it was out of the way, you can tell it to do a “tidy up” run where it just goes back to those spots and takes care of them.

So neat!