Edge computing of reliable multimodal (2D RGB/3D RGB-Depth) data has a wide range of applications. However, many of currently reported visual processors cannot flexibly handle multimodal data, e.g., the visual streams of RGB-Depth data. The key challenge exists that these prior visual processors do not come with efficient and unified instruction set architecture (ISA) for both conventional and intelligent cognition on the 2D/3D multimodal sensory data. To fill such a gap, this paper proposes a programmable intelligent visual vector processor compatible with multimodal 2D/3D visual data processing (Formula Omitted-pixel resolution). The processor consists of a reconfigurable processing element (PE) array, a memory access network flexibly configurable to be fine- or coarse-grained, and a high throughput I/O interface. The vectorial PE array with neighbor PE access increases the data reuse rate and parallel computation efficiency, and can implement both convolutional neural networks (CNNs) and conventional image processing algorithms. The proposed ISA is customized and optimally tailored targeting 2D/3D image processing from RGB/Time-of-Flight(ToF) raw data to intelligent inference results. The chip is fabricated in a 55-nm CMOS process. The experimental results showed that the area efficiency, peak performance, and peak throughput of our chip attained as high as 14.41GOPS/mm2, 409.6GOPS, and 9.6Gbps at 200MHz, respectively. The measured processing speeds of this chip on ToF depth reconstruction is 87fps (Formula Omitted) or 31 fps(Formula Omitted),on 3D object classification is 219fps (Formula Omitted), and on CNN-based 2D object tracking is 36fps (Formula Omitted).