  This paper proposes an A*SLAM system that features combining two sets of
fisheye stereo cameras and taking the image edge as the SLAM features. The dual
fisheye stereo camera sets cover the full environmental view of the SLAM
system. From each fisheye stereo image pair, a panorama depth image can be
directly extracted for initializing the SLAM feature. The edge feature is an
illumination invariant feature. The paper presents a method of the edge-based
simultaneous localization and mapping process using both the normal and
inverted images interchangeably.
