A method for image colorization includes receiving, from a camera, an input image including a plurality of input image pixels. One or more input interest pixels of the plurality of input image pixels are classified as corresponding to an object of interest. A display image is generated having a plurality of display image pixels each having pixel values based on relative temperature values of objects in a real-world environment, the display image pixels including display interest pixels corresponding to the input interest pixels. The display interest pixels are colorized with a color selected based on a recognized class of the object of interest to give a colorized display image, the selected color being independent of the relative temperature values of the object of interest. The colorized display image is displayed with the display interest pixels colorized with the selected color.