Abstract: Because the base coordinate system of the robot is hidden inside the base, it is very difficult to measure the pose relationship between the base coordinate system of the two robots. As the cornerstone of offline robot programming and cooperative control, this relationship is very important for the normal work of the multi-robot system. A collaborative calibration method based on monocular vision was proposed to solve the relative relation of pose between the base coordinate systems of the two robots by using monocular vision and checkerboard calibration plate. The laser tracker calibration method was used as a control to calibrate the relationship between the coordinate systems of the two robots, and the calibration results were verified by the cooperative experiment of the two robots' pose. Finally, the maximum and minimum position cooperative error of the two robots corresponding to the collaborative calibration method based on monocular vision was 1.278 mm and 0.601 mm. The maximum attitude synergy error is 0.481°.