The invention discloses a fusion method of an indoor SLAM map based on visual perception and laser detection. The method comprises the steps of the laser detection, constructing a three-dimensional point cloud map, filtering and projection processing and map fusion; through the steps, on the one hand, a two-dimensional laser detection map containing ground height information is obtained, on the other hand, a three-dimensional visual perception point cloud map is obtained, and then after the three-dimensional visual perception point cloud map is filtered and projected, a two-dimensional visualperception map containing obstacle information is obtained; and finally, the two-dimensional laser detection map and the two-dimensional visual perception map are fused to obtain a two-dimensional fusion map. According to the fusion method of the indoor SLAM map based on the visual perception and the laser detection, the influential obstacle information in the process of robot navigation can be fused into two-dimensional map information to generate a two-dimensional map with high accuracy and rich information, and the practicability in an indoor environment for robot mobile navigation and pathplanning is high.