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Torrefaction pretreatment has recently gained attention for the potential improvement in biomass properties. Otherwise, visible image-processing technology for analyzing properties of torrefied biomass was evaluated for possible use in the future online process control. In this study, torrefied rice husk from different torrefaction temperatures (180–330 °C) was obtained. After torrefaction, the biochar was characterized to determine the effects of torrefaction temperature on the properties, including the proximate analysis, solid yield (SY), and higher heating values. In addition, the color values, including red-green-blue (RGB) values, and grayscale (GS) of torrefied rice husk, were measured. The results show that the fixed carbon and ash increased from 17.39 to 35.13 and 7.06 to 38.41%, respectively, while volatile matters decreased from 71.47% to a minimum of 22.89% with the increase of torrefaction temperature from 105 to 330 °C. The SY remained higher than 46% even at the most severe torrefaction condition because of the high ash content and high remaining lignin. Moreover, the higher heating values of torrefied rice husk were increased from 14.80 to 17.82 MJ/kg when increased the pretreatment temperature. RGB values were decreased with the increase of torrefaction temperature. The GS analysis results show that the color of torrefied rice husk changed from yellow to brown at light torrefaction and black at severe torrefaction. GS of torrefied rice husk shows a good correlation (R = 0.9998) with torrefaction temperature. Prediction equations with higher fitting degree between GS and proximate analysis (R2 > 0.9900), high heat values (R2 = 0.9999), and SY (R2 = 0.9979), which are developed to reflect the changing characteristics of torrefied rice husk. The results show that the prediction method based on GS is a promising technology to measure the properties of torrefied rice husk.