1. A robot comprising: a range detector configured to capture range images indicating distances from the robot to a plurality of objects in an environment, wherein the range images comprise at least one of point-map images and point-cloud images; and at least one processor configured to (i) initiate the transmission of a query to a server, wherein the query is based at least in part on the range images, (ii) receive a mapping of the environment from the server, wherein the mapping of the environment comprises an indication of a location of at least some of the objects in the plurality of objects in the environment and (iii) estimate a location of the robot based at least in part on the distances and the mapping.