Cooperative nature in robots is a much sought after feature. Weakness of individual entities in the system could be over come by cooperation, which also brings in reliability and speed. Application of Computer Vision in robotics has brought in many new path breaking techniques, especially into aerial robotics. It has also managed to upstage the use of traditional inertial sensing methods for control and stabilization. With more computation power being packed onboard the robotic platforms, it is now possible to run some of the state-of-the-art Computer Vision and Control algorithms on the platform itself. We present a hybrid solution involving a vision based markerless Simultaneous Localization and Mapping algorithm and fudicial markers in a framework to achieve cooperative 3D mapping of unstructured environments.