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Every year, a large number of wildfires all over the world burn forested lands, causing adverse ecological, economic, and social impacts. Beyond taking precautionary measures, early warning and immediate response are the only ways to avoid great losses. To this end, in this paper we propose a computer vision approach for fire-flame detection to be used by an early-warning fire monitoring system. Initially, candidate fire regions in a frame are defined using background subtraction and color analysis based on a nonparametric model. Subsequently, the fire behavior is modeled by employing various spatio-temporal features, such as color probability, flickering, spatial, and spatio-temporal energy, while dynamic texture analysis is applied in each candidate region using linear dynamical systems and a bag-of-systems approach. To increase the robustness of the algorithm, the spatio-temporal consistency energy of each candidate fire region is estimated by exploiting prior knowledge about the possible existence of fire in neighboring blocks from the current and previous video frames. As a final step, a two-class support vector machine classifier is used to classify the candidate regions. Experimental results have shown that the proposed method outperforms existing state-of-the-art algorithms. [ABSTRACT FROM PUBLISHER]