1. A method for generating an enhanced map comprising: obtaining at least one image of a view in an area from an upward facing fisheye camera imaging device; identifying at least one high-contrast feature in the image; providing non-visible light radiation to the area whereby the radiation creates the at least one high-contrast feature in the image: processing the location of the upward facing fisheye camera based from a plurality of sensors including the upward facing fisheye camera; adjusting the location of the upward facing fisheye camera on a map of the area based on the sensor data; and generating an enhanced map of the area by embedding the high-contrast feature in the map of the area whereby the enhanced map is used to determine position of the imaging device.