diff --git a/frigate/app.py b/frigate/app.py
index 79e785a13..99b2cd3e9 100644
--- a/frigate/app.py
+++ b/frigate/app.py
@@ -40,6 +40,7 @@ from frigate.object_processing import TrackedObjectProcessor
 from frigate.output import output_frames
 from frigate.plus import PlusApi
 from frigate.ptz import OnvifController
+from frigate.ptz_autotrack import PtzAutoTrackerThread
 from frigate.record.record import manage_recordings
 from frigate.stats import StatsEmitter, stats_init
 from frigate.storage import StorageMaintainer
@@ -327,6 +328,15 @@ class FrigateApp:
                 detector_config,
             )
 
+    def start_ptz_autotracker(self) -> None:
+        self.ptz_autotracker_thread = PtzAutoTrackerThread(
+            self.config,
+            self.dispatcher.onvif,
+            self.dispatcher.camera_metrics,
+            self.stop_event,
+        )
+        self.ptz_autotracker_thread.start()
+
     def start_detected_frames_processor(self) -> None:
         self.detected_frames_processor = TrackedObjectProcessor(
             self.config,
@@ -336,6 +346,7 @@ class FrigateApp:
             self.event_processed_queue,
             self.video_output_queue,
             self.recordings_info_queue,
+            self.ptz_autotracker_thread,
             self.stop_event,
         )
         self.detected_frames_processor.start()
@@ -488,6 +499,7 @@ class FrigateApp:
             sys.exit(1)
         self.start_detectors()
         self.start_video_output_processor()
+        self.start_ptz_autotracker()
         self.start_detected_frames_processor()
         self.start_camera_processors()
         self.start_camera_capture_processes()
@@ -531,6 +543,7 @@ class FrigateApp:
 
         self.dispatcher.stop()
         self.detected_frames_processor.join()
+        self.ptz_autotracker_thread.join()
         self.event_processor.join()
         self.event_cleanup.join()
         self.stats_emitter.join()
diff --git a/frigate/object_processing.py b/frigate/object_processing.py
index 3ddb08e97..a5edc6f1e 100644
--- a/frigate/object_processing.py
+++ b/frigate/object_processing.py
@@ -240,7 +240,10 @@ class TrackedObject:
                 significant_change = True
 
             # update autotrack every second? or fps?
-            if self.obj_data["frame_time"] - self.previous["frame_time"] > 1:
+            if (
+                self.obj_data["frame_time"] - self.previous["frame_time"]
+                > 0.5  # / self.camera_config.detect.fps
+            ):
                 autotracker_update = True
 
         self.obj_data.update(obj_data)
@@ -619,7 +622,7 @@ class CameraState:
                 frame_time, current_detections[id]
             )
 
-            if autotracker_update:
+            if autotracker_update or significant_update:
                 for c in self.callbacks["autotrack"]:
                     c(self.name, updated_obj, frame_time)
 
@@ -763,6 +766,7 @@ class TrackedObjectProcessor(threading.Thread):
         event_processed_queue,
         video_output_queue,
         recordings_info_queue,
+        ptz_autotracker_thread,
         stop_event,
     ):
         threading.Thread.__init__(self)
@@ -778,9 +782,7 @@ class TrackedObjectProcessor(threading.Thread):
         self.camera_states: dict[str, CameraState] = {}
         self.frame_manager = SharedMemoryFrameManager()
         self.last_motion_detected: dict[str, float] = {}
-        self.ptz_autotracker_thread = PtzAutoTrackerThread(
-            config, dispatcher.onvif, dispatcher.camera_metrics, self.stop_event
-        )
+        self.ptz_autotracker_thread = ptz_autotracker_thread
 
         def start(camera, obj: TrackedObject, current_frame_time):
             self.event_queue.put(
@@ -1041,7 +1043,6 @@ class TrackedObjectProcessor(threading.Thread):
         return self.camera_states[camera].current_frame_time
 
     def run(self):
-        self.ptz_autotracker_thread.start()
         while not self.stop_event.is_set():
             try:
                 (
@@ -1162,5 +1163,4 @@ class TrackedObjectProcessor(threading.Thread):
                 event_id, camera = self.event_processed_queue.get()
                 self.camera_states[camera].finished(event_id)
 
-        self.ptz_autotracker_thread.join()
         logger.info("Exiting object processor...")