The error you're seeing is caused by a missing saved object in Kibana. Most likely this is coming from a missing workpad. It's possible that you are loading a route for a workpad that no longer exists (an error that we sadly don't handle well yet).
There was a fix that went out in 2015 that had to do with unhandled errors in the Workpad API, so it's possible the error you're seeing has always been there, but wasn't being caught before. Just a guess though.
If you load up /app/canvas#/ instead of simply /app/canvas, does the error go away? This will load Canvas at the "Home screen," instead of trying to load the last workpad you had open.