diff --git a/frigate/camera/state.py b/frigate/camera/state.py
index c0d0f8b7ff..fed819154e 100644
--- a/frigate/camera/state.py
+++ b/frigate/camera/state.py
@@ -111,9 +111,9 @@ class CameraState:
                 # draw thicker box around ptz autotracked object
                 if (
                     self.camera_config.onvif.autotracking.enabled
-                    and self.ptz_autotracker_thread.ptz_autotracker.autotracker_init[
+                    and self.ptz_autotracker_thread.ptz_autotracker.autotracker_init.get(
                         self.name
-                    ]
+                    )
                     and self.ptz_autotracker_thread.ptz_autotracker.tracked_object[
                         self.name
                     ]
diff --git a/frigate/ptz/autotrack.py b/frigate/ptz/autotrack.py
index 9a114c9524..4e27e2653d 100644
--- a/frigate/ptz/autotrack.py
+++ b/frigate/ptz/autotrack.py
@@ -1365,7 +1365,7 @@ class PtzAutoTracker:
         camera_config = self.config.cameras[camera]
 
         if camera_config.onvif.autotracking.enabled:
-            if not self.autotracker_init[camera]:
+            if not self.autotracker_init.get(camera):
                 future = asyncio.run_coroutine_threadsafe(
                     self._autotracker_setup(camera_config, camera), self.onvif.loop
                 )
@@ -1483,9 +1483,11 @@ class PtzAutoTracker:
                 }
 
     async def camera_maintenance(self, camera):
-        # bail and don't check anything if we're calibrating or tracking an object
+        # bail and don't check anything if we're not set up yet, calibrating, or
+        # tracking an object. a camera enabled at runtime has no autotracker_init
+        # entry until autotrack_object sets it up
         if (
-            not self.autotracker_init[camera]
+            not self.autotracker_init.get(camera)
             or self.calibrating[camera]
             or self.tracked_object[camera] is not None
         ):