diff --git a/frigate/track/centroid_tracker.py b/frigate/track/centroid_tracker.py
index 25d4cb860..9b28cc236 100644
--- a/frigate/track/centroid_tracker.py
+++ b/frigate/track/centroid_tracker.py
@@ -1,25 +1,26 @@
 import random
 import string
 from collections import defaultdict
+from typing import Any
 
 import numpy as np
 from scipy.spatial import distance as dist
 
 from frigate.config import DetectConfig
 from frigate.track import ObjectTracker
-from frigate.util import intersection_over_union
+from frigate.util.image import intersection_over_union
 
 
 class CentroidTracker(ObjectTracker):
     def __init__(self, config: DetectConfig):
-        self.tracked_objects = {}
-        self.untracked_object_boxes = []
-        self.disappeared = {}
-        self.positions = {}
+        self.tracked_objects: dict[str, Any] = {}
+        self.untracked_object_boxes: list[tuple[int, int, int, int]] = []
+        self.disappeared: dict[str, Any] = {}
+        self.positions: dict[str, Any] = {}
         self.max_disappeared = config.max_disappeared
         self.detect_config = config
 
-    def register(self, index, obj):
+    def register(self, obj: dict[str, Any]) -> None:
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
         id = f"{obj['frame_time']}-{rand_id}"
         obj["id"] = id
@@ -39,13 +40,13 @@ class CentroidTracker(ObjectTracker):
             "ymax": self.detect_config.height,
         }
 
-    def deregister(self, id):
+    def deregister(self, id: str) -> None:
         del self.tracked_objects[id]
         del self.disappeared[id]
 
     # tracks the current position of the object based on the last N bounding boxes
     # returns False if the object has moved outside its previous position
-    def update_position(self, id, box):
+    def update_position(self, id: str, box: tuple[int, int, int, int]) -> bool:
         position = self.positions[id]
         position_box = (
             position["xmin"],
@@ -88,7 +89,7 @@ class CentroidTracker(ObjectTracker):
 
         return True
 
-    def is_expired(self, id):
+    def is_expired(self, id: str) -> bool:
         obj = self.tracked_objects[id]
         # get the max frames for this label type or the default
         max_frames = self.detect_config.stationary.max_frames.objects.get(
@@ -108,7 +109,7 @@ class CentroidTracker(ObjectTracker):
 
         return False
 
-    def update(self, id, new_obj):
+    def update(self, id: str, new_obj: dict[str, Any]) -> None:
         self.disappeared[id] = 0
         # update the motionless count if the object has not moved to a new position
         if self.update_position(id, new_obj["box"]):
@@ -129,14 +130,16 @@ class CentroidTracker(ObjectTracker):
 
         self.tracked_objects[id].update(new_obj)
 
-    def update_frame_times(self, frame_name, frame_time):
+    def update_frame_times(self, frame_name: str, frame_time: float) -> None:
         for id in list(self.tracked_objects.keys()):
             self.tracked_objects[id]["frame_time"] = frame_time
             self.tracked_objects[id]["motionless_count"] += 1
             if self.is_expired(id):
                 self.deregister(id)
 
-    def match_and_update(self, frame_time, detections):
+    def match_and_update(
+        self, frame_name: str, frame_time: float, detections: list[dict[Any, Any]]
+    ) -> None:
         # group by name
         detection_groups = defaultdict(lambda: [])
         for obj in detections:
@@ -180,7 +183,7 @@ class CentroidTracker(ObjectTracker):
 
             if len(current_objects) == 0:
                 for index, obj in enumerate(group):
-                    self.register(index, obj)
+                    self.register(obj)
                 continue
 
             new_centroids = np.array([o["centroid"] for o in group])
@@ -238,4 +241,4 @@ class CentroidTracker(ObjectTracker):
             # register each new input centroid as a trackable object
             else:
                 for col in unusedCols:
-                    self.register(col, group[col])
+                    self.register(group[col])