A method for using Augmented Reality (AR), in conjunction with a real or simulated thermal imager. A primary application is to train emergency first responders. Particularly, the system uses a thermal imaging camera or standard video camera, and tracking system to provide a tracked viewpoint in an AR environment. The augmented portions of the environment can consist of fire, smoke, extinguishing agent, or other emergencies. This allows for inexpensive, flexible, and realistic on-site training of fire fighting, damage control, search and rescue, and other first responder techniques using thermal imaging.