Visual mapping method and automatic working system

The invention discloses a visual mapping method and an automatic working system. The method comprises the following steps: acquiring initial images of a working area shot by a plurality of image acquisition devices arranged above the working area and shooting poses corresponding to the initial images; fusing the plurality of initial images to obtain a global image of the working area based on an overlapping area of the shooting poses and the shooting ranges corresponding to the initial images; the global map of the working area is established according to the global image of the working area and the position information of the reference image acquisition device, the outdoor self-moving equipment plans driving in the working area according to the global map, the mapping is simpler and more convenient, the established map is finer and more comprehensive, and accurate navigation control of the outdoor self-moving equipment is facilitated. 本发明公开一种视觉建图方法和自动工作系统，该方法通过获取布置在工作区域上方的多个图像采集装置拍摄的工作区域的初始图像和对应初始图像的拍摄位姿；基于初