Abstract: In order to improve the detection and identification ability of the photoelectric system for the target, and achieve the fusion processing of single-photon detection of 3D point cloud data and 2D visible light images, the fusion processing algorithm of single-photon detection imaging system was proposed. A direct linear transformation method was used, and the parameter calibration problems in the process of fusion processing were solved by selection of homonymic feature points and indirect adjustment algorithm. The fusion processing algorithm was verified by the experimental data, and the pixel-level fusion processing with 1 024×768 resolution single-photon detection of 3D point cloud data and 2D visible light images was achieved. The experimental results show that the proposed fusion processing algorithm can effectively achieve the fusion of 3D and 2D images.