A fusion algorithm of pose estimation based on hierarchical cooperation objective is studied for visual landing of the rotor UAVs. First, the target area is determined by using the properties of the cooperation objectives that they have the same mass center and the fixed area ratio. Then, the LSD line extraction method is used to get the coordinates of the feature points. The Tsai algorithm is used together with fast four-point estimate algorithm to estimate the position and attitude of the UAV. Experimental results show that the hierarchical objective can increase the application range of position estimation and improve the precision of pose estimation.