Getting taxonomy images to display on single-post with their terms

I was having trouble with this too. Wanted to show all the term images on a single post page. I found that you need to loop through the terms first (in my case, taxonomy=st_colors), then loop through the images associated with those terms. Here is how I solved it:

    <?php
$terms = get_the_terms( $post->ID, 'st_colors' );
foreach ($terms as $term) : 

    $colors = apply_filters( 'taxonomy-images-get-terms', '', array(
        'taxonomy' => 'st_colors',
            'term_args' => array(
                'slug' => $term->slug,
                )
        ) 
    );
    foreach( (array) $colors as $color) :
        echo wp_get_attachment_image( $color->image_id, 'full', array('class' => 'alignnone'));
        echo $term->name;
    endforeach;

endforeach;
?>

Hope that helps!