Mapping and localization of autonomous agent is a crucial element in navigation, which traditionally uses such as LiDAR sensors. However, LiDAR faces limitations in terms of high cost and hardware complexity. This research proposes the use of a fisheye camera as a more efficient and economical alternative solution, with a wide viewing angle of 220° that allows coverage of a wider environment in a single frame. With image sequence method, this research shows that fisheye cameras can replace LiDAR with high reliability in detecting important environmental points without loss of detail. Experimental results show up to 98% efficiency of image feature extraction, with an average of 9,000 key points and 165 keyframes per experiment, producing accurate 3D maps using 3D AMCL and triangulation approaches. Overall, the fisheye camera proved to be a more cost-effective and reliable alternative, offering a high-quality mapping solution without reliance on LiDAR devices.