Vehicular light detection and ranging (LiDAR) has become a standard sensor in automotive by offering accurate geometric information of the surrounding region for intelligent driving vehicles. In order to overcome the limited performance of a single sensor for object detection, the geometric and spatial visibility features of LiDAR point clouds are fused with image semantic information in a network framework to achieve accurate three dimensional (3D) pedestrian detection. First, an effective 3D ray-casting algorithm is introduced to produce spatial visibility feature encodings. Second, the image semantic information is incorporated to improve point cloud features. Finally, the impact of added information and related hyperparameters on detection findings are quantitatively and qualitatively examined. Experimental findings demonstrate that compared with the single frame point cloud, the 3D pedestrian detection accuracy is enhanced by 32.63 percentage points after aggregating the last 10 frames of the point cloud in history. By further fusing image semantics and point cloud spatial visibility information, the proposed method's detection accuracy is enhanced by 2.42 percentage points compared with the benchmark approach, and exceeds some standard approaches. Our enhanced approach is more suitable for 3D pedestrian detection in a traffic environment.