To my understanding appearance-based SLAM uses only information coming from sensors for mapping and localization. It completely discards control information from actuators. I'm I correct?
Appearance-based SLAM methods model the set of discrete locations in a space and the existence of paths between these locations.
I suggest you first read this paper Appearance based slam for mobile robot . Try to know the basic idea behind the appearance based slam.
This depends on the localization approach on your SLAM (Simultaneous localization and mapping), i.e. AMCL localization algorithm using the laser (sensor) + wheels encoders (actuators sensors).
This algorithm based on adaptive Monte Carlo + EKF (extended Kalman filter)