The invention relates to a distributed vision positioning system and method based on a mobile robot, for solving the problem of inaccurate positioning and low working efficiency of walking robots in the prior art. The system comprises a visual node, the mobile robot and a control server, the visual node comprises a plurality of camera units, the control server comprises an image processing unit, a positioning unit and a map unit, the camera units are respectively connected with the image processing unit, the image processing unit and the map unit are respectively connected with the positioning unit, the positioning unit is connected with the mobile robot, and a feature mark is arranged on the mobile robot. By collecting an image, carrying out image processing and calculation on the feature mark in the image to obtain a distance, positioning is carried out on a map. The distributed vision positioning system provided by the invention has the advantages of accurately positioning the mobile robot indoors, greatly improving the working performance of the walking robot and improving the working efficiency. The plurality of camera units are distributed in an indoor environment to form cooperative positioning of multiple visual nodes.