In order to improve the resolution of low light lidar images, a low light lidar image super-resolution enhancement technique based on bilateral filtering is proposed. The Gaussian weighted bilateral filtering method is used to calculate the spatial proximity between pixels and the similarity coefficient of illumination intensity, accurately adjusting the brightness difference between pixels to generate a preliminary low illumination estimation image. The guided enhancement method is used to suppress noise, and the logarithmic transformation method is combined to improve the overall brightness and contrast of the image. The super-resolution of the low illumination lidar image is enhanced by calculating the weights between adjacent pixels. The experimental results show that after applying this technology, the brightness value of low light lidar images remains stable at about 130, the clarity is improved to about 21, the standard deviation exceeds 70, and the information entropy reaches over 7.6 bits, significantly improving the quality of lidar images under low light conditions.