Image-based cooperative simultaneous localization and mapping system and method

Disclosed is an image-based cooperative simultaneous localization and mapping system and method by using rendezvous. An embodiment of the present invention provides an image-based cooperative simultaneous localization and mapping method in a multi-platform system, the method comprising the steps of: estimating a camera posture on the basis of an image input through a camera in a single SLAM scheme and manufacturing an local map by each of multiple platforms; extracting a non-static feature from the image and managing same; transmitting, to a ground station, the camera posture, the local map, and the non-static feature as platform data; determining, by the ground station, whether a rendezvous situation has occurred between one of the multiple platforms and the remaining platforms, on the basis of the platform data; and when the rendezvous situation occurs, fusing the local map received from two or more rendezvoused platforms into a global map.