1. A mobile floor cleaning robot comprising: a robot body defining a forward drive direction; a drive system supporting the robot body and configured to maneuver the robot over a floor surface; a cleaning system disposed on the robot body; an imaging sensor disposed on the robot body; and a controller in communication with the drive system and the imaging sensor, the controller configured to: receive a sequence of images of the floor surface, each image having an array of pixels; for at least one image, segmenting the image into color segments by: color quantizing pixels of the image; and determining a spatial distribution of at least one color of the image based on corresponding pixel locations; and tracking a location of at least one color segment with respect to the imaging sensor across the sequence of images for determining a drive command for issuance to the drive system to maneuver the mobile floor cleaning robot.