diff --git a/frigate/ptz_autotrack.py b/frigate/ptz_autotrack.py
index 5761aa475..3e3bf29d6 100644
--- a/frigate/ptz_autotrack.py
+++ b/frigate/ptz_autotrack.py
@@ -17,6 +17,21 @@ from frigate.util import SharedMemoryFrameManager, intersection_over_union
 logger = logging.getLogger(__name__)
 
 
+class PtzMotionEstimatorThread(threading.Thread):
+    def __init__(self, config: CameraConfig, ptz_moving, stop_event) -> None:
+        threading.Thread.__init__(self)
+        self.name = "frigate_ptz_motion_estimator"
+        self.ptz_moving = ptz_moving
+        self.config = config
+        self.stop_event = stop_event
+        self.ptz_motion_estimator = PtzMotionEstimator(self.config, self.ptz_moving)
+
+    def run(self):
+        while not self.stop_event.is_set():
+            pass
+        logger.info("Exiting motion estimator...")
+
+
 class PtzMotionEstimator:
     def __init__(self, config: CameraConfig, ptz_moving) -> None:
         self.frame_manager = SharedMemoryFrameManager()
@@ -56,6 +71,10 @@ class PtzMotionEstimator:
 
             self.frame_manager.close(frame_id)
 
+            logger.debug(
+                f"frame time: {frame_time}, coord_transformations: {vars(self.coord_transformations)}"
+            )
+
             return self.coord_transformations
 
         return None
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index 48cc029ee..2683b05d1 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -6,7 +6,7 @@ from norfair import Detection, Drawable, Tracker, draw_boxes
 from norfair.drawing.drawer import Drawer
 
 from frigate.config import CameraConfig
-from frigate.ptz_autotrack import PtzMotionEstimator
+from frigate.ptz_autotrack import PtzMotionEstimatorThread
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
 
@@ -55,7 +55,9 @@ def frigate_distance(detection: Detection, tracked_object) -> float:
 
 
 class NorfairTracker(ObjectTracker):
-    def __init__(self, config: CameraConfig, ptz_autotracker_enabled, ptz_moving):
+    def __init__(
+        self, config: CameraConfig, ptz_autotracker_enabled, ptz_moving, stop_event
+    ):
         self.tracked_objects = {}
         self.disappeared = {}
         self.positions = {}
@@ -75,7 +77,9 @@ class NorfairTracker(ObjectTracker):
             hit_counter_max=self.max_disappeared,
         )
         if self.ptz_autotracker_enabled:
-            self.ptz_motion_estimator = PtzMotionEstimator(config, self.ptz_moving)
+            self.ptz_motion_estimator_thread = PtzMotionEstimatorThread(
+                config, self.ptz_moving, stop_event
+            )
 
     def register(self, track_id, obj):
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
@@ -243,8 +247,10 @@ class NorfairTracker(ObjectTracker):
             self.ptz_autotracker_enabled
             and self.camera_config.onvif.autotracking.motion_estimator
         ):
-            coord_transformations = self.ptz_motion_estimator.motion_estimator(
-                detections, frame_time, self.camera_name
+            coord_transformations = (
+                self.ptz_motion_estimator_thread.ptz_motion_estimator.motion_estimator(
+                    detections, frame_time, self.camera_name
+                )
             )
 
         tracked_objects = self.tracker.update(
diff --git a/frigate/video.py b/frigate/video.py
index 4dfcbedab..2eaa439c2 100755
--- a/frigate/video.py
+++ b/frigate/video.py
@@ -478,7 +478,9 @@ def track_camera(
         name, labelmap, detection_queue, result_connection, model_config, stop_event
     )
 
-    object_tracker = NorfairTracker(config, ptz_autotracker_enabled, ptz_moving)
+    object_tracker = NorfairTracker(
+        config, ptz_autotracker_enabled, ptz_moving, stop_event
+    )
 
     frame_manager = SharedMemoryFrameManager()