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Aiming at the problem that a single laser sensor or vision sensor cannot detect the perspective three-dimensional plane, a perspective plane detection and depth prediction algorithm based on the fusion of laser sensor and vision sensor is proposed. Firstly, GDNet is used to segment the perspective plane in a two-dimensional color image; secondly, a single image reflection removal algorithm is applied to separate the background information in the segmented perspective plane area, and the MegaDepth algorithm is used for depth prediction to obtain a relative depth map; and finally Combining the depth data of the laser sensor, the sampling consistency algorithm is used to calculate the depth scale, and the depth assignment to the perspective plane is used to convert the relative depth map into an absolute depth map, and then complete the depth prediction of the perspective plane. The experimental results show that the algorithm can successfully detect and segment the perspective plane, and can obtain the correct absolute depth information of the perspective plane.