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Most of fire detection system used the heuristic fixed threshold values in their specific methods. However, input images may be changed, in general, so the heuristic fixed threshold values used in the fire detection systems might be modified on a case by case basis. In this paper, an automatic fire detection system without the heuristic fixed threshold values was studied. We presented an automatic method using the statistical color model and the binary background mask. We did the experiment using 600 frames from 6 typical different fire video clips. As the experimental results the proposed method showed a good performance of about average 85% detection rate without false positive, compared with the other methods with the heuristic fixed threshold values.