Multi-modal image fusion is an active research area with many civilian and military applications. Fusion is defined as strategic combination of information collected by various sensors from different locations or different types in order to obtain a better understanding of an observed scene or situation. Fusion of multi-modal images cannot be completed unless these two modalities are spatially aligned. In this research, I consider two important problems. Multi-modal, multi-perspective image registration and decision level fusion of multi-modal images. In particular, LiDAR and visual imagery. Multi-modal image registration is a difficult task due to the different semantic interpretation of features extracted from each modality. This problem is decoupled into three sub-problems. The first step is identification and extraction of common features. The second step is the determination of corresponding points. The third step consists of determining the registration transformation parameters. Traditional registration methods use low level features such as lines and corners. Using these features require an extensive optimization search in order to determine the corresponding points. Many methods use global positioning systems (GPS), and a calibrated camera in order to obtain an initial estimate of the camera parameters. The advantages of our work over the previous works are the following. First, I used high level-features, which significantly reduce the search space for the optimization process. Second, the determination of corresponding points is modeled as an assignment problem between a small numbers of objects. On the other side, fusing LiDAR and visual images is beneficial, due to the different and rich characteristics of both modalities. LiDAR data contain 3D information, while images contain visual information. Developing a fusion technique that uses the characteristics of both modalities is very important. I establish a decision-level fusion technique using manifold models.