This paper presents a novel methodology to estimate if a point of a LiDAR point cloud is visible from a given point of viewcorresponding to the optical center of a camera. Visibility estimation is essential in order to improve LiDAR and optical data fusion. The LiDAR point cloud is first projected on the image plane of the camera. Then, a criteron on the neighborhood of each point is used to automatically estimate which points are visible from the given point of view.