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Vision based fire detection is potentially a useful technique. With the increase in the number of surveillance cameras being installed, a vision based fire detection capability can be incorporated in existing surveillance systems at relatively low additional cost. Vision based fire detection offers advantages over the traditional methods. It will thus complement the existing devices. In this paper, we present spectral, spatial and temporal models of fire regions in visual image sequences. The spectral model is represented in terms of the color probability density of fire pixels. The spatial model captures the spatial structure within a fire region. The shape of a fire region is represented in terms of the spatial frequency content of the region contour using its Fourier coefficients. The temporal changes in these coefficients are used as the temporal signatures of the fire region. Specifically, an auto regressive model of the Fourier coefficient series is used. Experiments with a large number of scenes show that our method is capable of detecting fire reliably.