The premise still strikes me as a ridiculous one: Am I possibly a more affluent customer because there is a high pile rug under the coffee table? How much would Charmin pay to know I have two rooms with tiled floors?
What iRobot actually suggested was more mundane: that there could hypothetically exist a protocol for smart devices to share a spatial understanding of the home, and that their existing robot was in a favorable position to provide the map. The CEO talking about it like a business opportunity rather than a feature invited the negative reception.
It didn't help that a few years later, photos collected by development units in paid testers' homes for ML training purposes were leaked by Scale AI annotators (akin to Mechanical Turk workers). This again became "Roomba is filming you in the bathroom" in the mind of the public.
The privacy risk seemed entirely hypothetical—there was no actual consumer harm, only vague speculation about what the harm could be, and to my knowledge the relevant features never even existed. And yet the fear of Alexa having a floorplan of your home could have been great enough to play a role in torpedoing the Amazon acquisition.