A computer device , comprising: a memory to store data and instructions; a processor in communication with the memory ; and an operating system in communication with the memory and the processor , wherein the operating system is operable to: receive an infrared, IR, image stream of a scene , illuminated by an IR light source, including IR pixel intensities; detect at least one object in the IR image stream and corresponding ones of the IR pixel intensities; receive, from a red green blue, RGB, knowledge base , a RGB texture including RGB pixel intensities corresponding to the at least one object detected in the IR image stream ; process the RGB texture by matching coordinates in the RGB texture with corresponding coordinates in the at least one object to produce a colorized IR image stream by blending the RGB pixel intensities from the RGB texture with the corresponding ones of the IR pixel intensities of the at least one object by using an estimation of IR light provided by the IR light source to determine a final color value for the RBG texture in the colorized IR stream; and transmit the colorized IR image stream of the scene wherein the at least one object is displayed in color based on the processing. a memory to store data and instructions; a processor in communication with the memory ; and an operating system in communication with the memory and the processor , wherein the operating system is operable to: receive an infrared, IR, image stream of a scene , illuminated by an IR light source, including IR pixel intensities; detect at least one object in the IR image stream and corresponding ones of the IR pixel intensities; receive, from a red green blue, RGB, knowledge base , a RGB texture including RGB pixel intensities corresponding to the at least one object detected in the IR image stream ; process the RGB texture by matching coordinates in the RGB texture with corresponding coordinates in the at least one object to produce a colorized IR image stream by blending the RGB pixel intensities from the RGB texture with the corresponding ones of the IR pixel intensities of the at least one object by using an estimation of IR light provided by the IR light source to determine a final color value for the RBG texture in the colorized IR stream; and transmit the colorized IR image stream of the scene wherein the at least one object is displayed in color based on the processing. receive an infrared, IR, image stream of a scene , illuminated by an IR light source, including IR pixel intensities; detect at least one object in the IR image stream and corresponding ones of the IR pixel intensities; receive, from a red green blue, RGB, knowledge base , a RGB texture including RGB pixel intensities corresponding to the at least one object detected in the IR image stream ; process the RGB texture by matching coordinates in the RGB texture with corresponding coordinates in the at least one object to produce a colorized IR image stream by blending the RGB pixel intensities from the RGB texture with the corresponding ones of the IR pixel intensities of the at least one object by using an estimation of IR light provided by the IR light source to determine a final color value for the RBG texture in the colorized IR stream; and transmit the colorized IR image stream of the scene wherein the at least one object is displayed in color based on the processing. <EOS>