Passive millimeter wave imaging has the capability of detecting concealed objects under clothing. Also, passive millimeter imaging can obtain interpretable images under low visibility conditions like rain, fog, smoke, and dust. However, the image quality is often degraded due to low spatial resolution, low signal level, and low temperature resolution. This paper addresses image registration and fusion between passive millimeter images and visual images. The goal of this study is to combine and visualize two different types of information together: human subject's identity and concealed objects. The image registration process is composed of body boundary detection and an affine transform maximizing cross-correlation coefficients of two edge images. The image fusion process comprises three stages: discrete wavelet transform for image decomposition, a fusion rule for merging the coefficients, and the inverse transform for image synthesis. In the experiments, various types of metallic and non-metallic objects such as a knife, gel or liquid type beauty aids and a phone are detected by passive millimeter wave imaging. The registration and fusion process can visualize the meaningful information from two different types of sensors.