Heterogeneous multi-robot collaborative SLAM map fusion method

The invention discloses a heterogeneous multi-robot collaborative SLAM map fusion method, which is applied to a cloud server and comprises the following steps: receiving a first map constructed by a first unmanned aerial vehicle for a first area at a first moment and a second map constructed by a second unmanned aerial vehicle for a second area at a second moment; determining an overlapping region according to the first key frame, the second key frame, the motion trail of the first unmanned aerial vehicle and the motion trail of the second unmanned aerial vehicle; acquiring a key frame set corresponding to the overlapping region, and determining a relative motion relationship between the first unmanned aerial vehicle and the second unmanned aerial vehicle; according to the relative motion relation, fusing the first map and the second map to obtain a global map comprising the first area and the second area; and issuing the global map to each unmanned vehicle, and updating the global map according to the updati