Image stitching is a technique of forming a panoramic image by transforming, resampling and fusing a set of overlapping image sequences, which has been widely used in robot vision, UAV surveillance and other fields. Morphological filter is a very effective method for perceiving global situation in swarm agent game based on visual information. In this paper, a simple image background is taken as an example, and multi-monocular camera image fusion is completed based on classical SURF algorithm. In the synthetic panoramic image, the agent motion process is equivalent to the image corrosion operation. In this way we can segment the feasible region of the rigid body, and then transform it into the coordinates of the unfeasible region of the target system through Euler coordinate transformation, which paves the way for the subsequent perception and evaluation of the global situation of multi-agent confrontation based on visual information. The innovation point is to find the feasible area of rigid body by morphological filtering, and carry on the binarization processing to the miscellaneous points, making the operation simple and the programming easy to realize.