In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently coordinating their movements and sensor data acquisition. In this article, we present an efficient visual AC-SLAM method using aerial and ground robots for environment exploration and mapping. We propose an efficient frontiers filtering method that takes into account the common IoU map frontiers and reduces the frontiers for each robot. Additionally, we also present an approach to guide robots to previously visited goal positions to promote loop closure to reduce SLAM uncertainty. The proposed method is implemented in ROS and evaluated through simulations on publicly available datasets and similar methods, achieving an accumulative average of 59% of increase in area coverage.