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Automatic incident detection (AID) is crucial for reducing non-recurrent congestion caused by trac incidents. In this paper we propose a data-driven AID framework that can leverage large-scale historical trac data along with the inherent topology of the trac networks to obtain robust trac patterns. Such trac patterns can be compared with the real-time trac data to detect trac incidents in the road network. Our AID framework consists of two basic steps for trac pattern estimation. First, we estimate robust univariate speed threshold using historical trac information from individual sensors. This step can be parallelized using MapReduce framework thereby making it feasible to implement the framework over large networks. Our study shows that such robust thresholds can improve incident detection performance significantly compared to traditional threshold determination. Second, we leverage the knowledge of the topology of the road network to construct threshold heatmaps and perform image denoising to obtain spatio-temporally denoised thresholds. We used two image denoising techniques, bilateral filtering and total variation for this purpose. Our study shows that overall AID performance can be improved significantly using bilateral filter denoising compared to the noisy thresholds or thresholds obtained using total variation denoising.