An imaging system is provided. The imaging system includes a 3D image capture device, which is configured to capture a depth image of an object, and a thermal image capture device, which is configured to capture a thermal image of the object. The imaging system also includes a processing system, which is coupled with the 3D image capture device and the thermal image capture device. The processing system is configured to process the depth image and the thermal image to produce a thermal-depth fusion image by aligning the thermal image with the depth image, and assigning a thermal value derived from the thermal image to a plurality of points of the depth image.