We proposed a hybrid imaging scheme to estimate a high-resolution absolute depth map from low photon counts. It leverages measurements of photon arrival times from a single-photon LiDAR and an intensity image from a conventional high-resolution camera. Using a tailored fusion algorithm, we jointly processed the raw measurements from both sensors and output a high-resolution absolute depth map. We scaled up the resolution by a factor of 10, achieving 1300 $\times$ 2611 pixels and extending $\sim$4.7 times unambiguous range. These results demonstrated the superior capability of long-range high-resolution 3D imaging without range ambiguity.