Not sure if this would work but with enough processing power it might. I have seen some cameras that are pointed at a dome. This allows for 360 degree view of the surroundings. like thishttp://www.bugeyedigital.com/product_main/036-0360d.html
Expensive yes but would a shinny dome and CMU cam with some programming give you enough of a view to maybe do some tricky navigation with an omni robot.
Not sure if mapping with video would work well but maybe tracking a target or color.
Would Roborealm be able to work with such a distorted video?