The invention provides a mapping method and device and a mobile terminal. The method comprises the following steps: obtaining laser frame data collected by a laser sensor; obtaining image frame data collected by a visual sensor; according to the laser frame data, determining a movement track of the laser sensor; based on the movement track of the laser sensor and the image frame data, establishinga visual map; and fusing a laser map established based on the laser frame data with the visual map. According to the technical scheme, the mapping method and device can realize laser and vision combined localization and mapping; and laser SLAM and visual SLAM adopt same motion information, so that the finally generated laser map and visual map are allowed to have the same space information, and robustness is high.