Multi-robot co-localization and fusion mapping method under multi-view in open space

The invention discloses a multi-robot co-localization and fusion mapping method under multi-view in an open space. The method comprises the following steps of: completely covering a detection scene byusing multiple observations in the air and the ground, integrating scene image data collected by aerial robots and ground robots, and positioning the robots by visual constraints and restoring three-dimensional scene information; optimizing three-dimensional point cloud map of the mapping and positioning system and six-degree-of-freedom pose of the robots by specific visual features adhered to the robot. The pose optimization and map fusion algorithm based on visual features significantly improve reconstruction and positioning accuracy, revise map scales, so that local maps of each robot canbe shared among multiple heterogeneous robots, the coverage of three-dimensional reconstruction is improved, the reliable environmental information is quickly provided for mission planning, disaster environment search and resc