1. A processor-implemented method for performing inventory of products with identifiers disposed on a plurality of shelves in a store, using a mobile inventory robot, the method comprising: navigating the mobile inventory robot to a shelf through the store; capturing an image of the shelf; decoding a product barcode from the captured shelf image; segmenting the captured shelf image to detect an image of at least one of the products on the shelves; retrieving a product visual descriptor from the decoded product barcode; determining whether the detected image of the at least one of the products matches the retrieved product visual descriptor; and upon determination that the detected image of the at least one of the products does not match the retrieved product visual descriptor, setting an out-of-stock flag for the product corresponding to the decoded product identifier.