We address the problem of simultaneous localiza- tion and mapping by combining visual loop-closure detection with metrical information given by the robot odometry. The proposed algorithm builds in real-time topo-metric maps of an unknown environment, with a monocular or omnidirec- tional camera and odometry gathered by motors encoders. A dedicated improved version of our previous work on purely appearance-based loop-closure detection [1] is used to extract potential loop-closure locations. Potential locations are then verified and classified using a new validation stage. The main contributions we bring are the generalization of the validation method for the use of monocular and omnidirectional camera with the removal of the camera calibration stage, the inclusion of an odometry-based evolution model in the Bayesian filter which improves accuracy and responsiveness, and the addition of a consistent metric position estimation. This new SLAM method does not require any calibration or learning stage (i.e. no a priori information about environment). It is therefore fully incremental and generates maps usable for global localization and planned navigation. This algorithm is moreover well suited for remote processing and can be used on toy robots with very small computational power.