1. A method comprising: maneuvering a robot about a scene; emitting light onto the scene; capturing images of the scene using a depth-perceptive imaging sensor, the images comprising an active illumination image and an ambient illumination image, each image comprising three-dimensional depth data and brightness data; executing a particle filter having a set of particles, each particle having an associated occupancy grid map, an associated feature map, and a robot location hypothesis; updating the occupancy grid map associated with each particle based on the images; for each image: instantiating an image pyramid comprising a set of scaled images, each scaled image having a scale relative to the image; identifying at least one feature point in the scaled images; and updating the corresponding feature map of each particle with the identified at least one feature point; determining a location of an object in the scene based on the images and at least one particle of the particle filter; assigning a confidence level for the location of the object based on the three-dimensional depth data and the brightness data of the images; and maneuvering the robot in the scene based on the location of the object and the corresponding confidence level.