diff --git a/frigate/app.py b/frigate/app.py
index 9d85f461e..79e785a13 100644
--- a/frigate/app.py
+++ b/frigate/app.py
@@ -117,6 +117,11 @@ class FrigateApp:
                 "improve_contrast_enabled": mp.Value(
                     "i", self.config.cameras[camera_name].motion.improve_contrast
                 ),
+                "ptz_autotracker_enabled": mp.Value(
+                    "i",
+                    self.config.cameras[camera_name].onvif.autotracking.enabled,
+                ),
+                "ptz_moving": mp.Value("i", 0),
                 "motion_threshold": mp.Value(
                     "i", self.config.cameras[camera_name].motion.threshold
                 ),
@@ -268,7 +273,7 @@ class FrigateApp:
         )
 
     def init_onvif(self) -> None:
-        self.onvif_controller = OnvifController(self.config)
+        self.onvif_controller = OnvifController(self.config, self.camera_metrics)
 
     def init_dispatcher(self) -> None:
         comms: list[Communicator] = []
diff --git a/frigate/comms/dispatcher.py b/frigate/comms/dispatcher.py
index b7e9e8858..d6b242937 100644
--- a/frigate/comms/dispatcher.py
+++ b/frigate/comms/dispatcher.py
@@ -54,6 +54,7 @@ class Dispatcher:
         self._camera_settings_handlers: dict[str, Callable] = {
             "detect": self._on_detect_command,
             "improve_contrast": self._on_motion_improve_contrast_command,
+            "ptz_autotracker": self._on_ptz_autotracker_command,
             "motion": self._on_motion_command,
             "motion_contour_area": self._on_motion_contour_area_command,
             "motion_threshold": self._on_motion_threshold_command,
@@ -158,6 +159,25 @@ class Dispatcher:
 
         self.publish(f"{camera_name}/improve_contrast/state", payload, retain=True)
 
+    def _on_ptz_autotracker_command(self, camera_name: str, payload: str) -> None:
+        """Callback for ptz_autotracker topic."""
+        ptz_autotracker_settings = self.config.cameras[camera_name].onvif.autotracking
+
+        if payload == "ON":
+            if not self.camera_metrics[camera_name]["ptz_autotracker_enabled"].value:
+                logger.info(f"Turning on ptz autotracker for {camera_name}")
+                self.camera_metrics[camera_name]["ptz_autotracker_enabled"].value = True
+                ptz_autotracker_settings.enabled = True
+        elif payload == "OFF":
+            if self.camera_metrics[camera_name]["ptz_autotracker_enabled"].value:
+                logger.info(f"Turning off ptz autotracker for {camera_name}")
+                self.camera_metrics[camera_name][
+                    "ptz_autotracker_enabled"
+                ].value = False
+                ptz_autotracker_settings.enabled = False
+
+        self.publish(f"{camera_name}/ptz_autotracker/state", payload, retain=True)
+
     def _on_motion_contour_area_command(self, camera_name: str, payload: int) -> None:
         """Callback for motion contour topic."""
         try:
diff --git a/frigate/comms/mqtt.py b/frigate/comms/mqtt.py
index 07799f9da..8a941d7fa 100644
--- a/frigate/comms/mqtt.py
+++ b/frigate/comms/mqtt.py
@@ -64,6 +64,11 @@ class MqttClient(Communicator):  # type: ignore[misc]
                 "ON" if camera.motion.improve_contrast else "OFF",  # type: ignore[union-attr]
                 retain=True,
             )
+            self.publish(
+                f"{camera_name}/ptz_autotracker/state",
+                "ON" if camera.onvif.autotracking.enabled else "OFF",  # type: ignore[union-attr]
+                retain=True,
+            )
             self.publish(
                 f"{camera_name}/motion_threshold/state",
                 camera.motion.threshold,  # type: ignore[union-attr]
diff --git a/frigate/config.py b/frigate/config.py
index b71ba1907..14b15e07b 100644
--- a/frigate/config.py
+++ b/frigate/config.py
@@ -127,11 +127,37 @@ class MqttConfig(FrigateBaseModel):
         return v
 
 
+class PtzAutotrackConfig(FrigateBaseModel):
+    enabled: bool = Field(default=False, title="Enable PTZ auto tracking.")
+    motion_estimator: bool = Field(default=False, title="Use Norfair motion estimator.")
+    track: List[str] = Field(default=DEFAULT_TRACKED_OBJECTS, title="Objects to track.")
+    required_zones: List[str] = Field(
+        default_factory=list,
+        title="List of required zones to be entered in order to begin autotracking.",
+    )
+    size_ratio: float = Field(
+        default=0.5,
+        title="Target ratio of tracked object to field of view (0.2-0.9).",
+        ge=0.2,
+        le=0.9,
+    )
+    return_preset: Optional[str] = Field(
+        title="Name of camera preset to return to when object tracking is over."
+    )
+    timeout: int = Field(
+        default=5, title="Seconds to delay before returning to preset."
+    )
+
+
 class OnvifConfig(FrigateBaseModel):
     host: str = Field(default="", title="Onvif Host")
     port: int = Field(default=8000, title="Onvif Port")
     user: Optional[str] = Field(title="Onvif Username")
     password: Optional[str] = Field(title="Onvif Password")
+    autotracking: PtzAutotrackConfig = Field(
+        default_factory=PtzAutotrackConfig,
+        title="PTZ auto tracking config.",
+    )
 
 
 class RetainModeEnum(str, Enum):
diff --git a/frigate/object_processing.py b/frigate/object_processing.py
index 6d31c3cdd..3ddb08e97 100644
--- a/frigate/object_processing.py
+++ b/frigate/object_processing.py
@@ -22,6 +22,7 @@ from frigate.config import (
 )
 from frigate.const import CLIPS_DIR
 from frigate.events.maintainer import EventTypeEnum
+from frigate.ptz_autotrack import PtzAutoTrackerThread
 from frigate.util import (
     SharedMemoryFrameManager,
     area,
@@ -143,6 +144,7 @@ class TrackedObject:
     def update(self, current_frame_time, obj_data):
         thumb_update = False
         significant_change = False
+        autotracker_update = False
         # if the object is not in the current frame, add a 0.0 to the score history
         if obj_data["frame_time"] != current_frame_time:
             self.score_history.append(0.0)
@@ -237,9 +239,13 @@ class TrackedObject:
             if self.obj_data["frame_time"] - self.previous["frame_time"] > 60:
                 significant_change = True
 
+            # update autotrack every second? or fps?
+            if self.obj_data["frame_time"] - self.previous["frame_time"] > 1:
+                autotracker_update = True
+
         self.obj_data.update(obj_data)
         self.current_zones = current_zones
-        return (thumb_update, significant_change)
+        return (thumb_update, significant_change, autotracker_update)
 
     def to_dict(self, include_thumbnail: bool = False):
         (self.thumbnail_data["frame_time"] if self.thumbnail_data is not None else 0.0)
@@ -438,7 +444,11 @@ def zone_filtered(obj: TrackedObject, object_config):
 # Maintains the state of a camera
 class CameraState:
     def __init__(
-        self, name, config: FrigateConfig, frame_manager: SharedMemoryFrameManager
+        self,
+        name,
+        config: FrigateConfig,
+        frame_manager: SharedMemoryFrameManager,
+        ptz_autotracker_thread: PtzAutoTrackerThread,
     ):
         self.name = name
         self.config = config
@@ -456,6 +466,7 @@ class CameraState:
         self.regions = []
         self.previous_frame_id = None
         self.callbacks = defaultdict(list)
+        self.ptz_autotracker_thread = ptz_autotracker_thread
 
     def get_current_frame(self, draw_options={}):
         with self.current_frame_lock:
@@ -477,6 +488,20 @@ class CameraState:
                     thickness = 1
                     color = (255, 0, 0)
 
+                # draw thicker box around ptz autotracked object
+                if (
+                    self.ptz_autotracker_thread.ptz_autotracker.tracked_object[
+                        self.name
+                    ]
+                    is not None
+                    and obj["id"]
+                    == self.ptz_autotracker_thread.ptz_autotracker.tracked_object[
+                        self.name
+                    ].obj_data["id"]
+                ):
+                    thickness = 5
+                    color = self.config.model.colormap[obj["label"]]
+
                 # draw the bounding boxes on the frame
                 box = obj["box"]
                 draw_box_with_label(
@@ -590,10 +615,14 @@ class CameraState:
 
         for id in updated_ids:
             updated_obj = tracked_objects[id]
-            thumb_update, significant_update = updated_obj.update(
+            thumb_update, significant_update, autotracker_update = updated_obj.update(
                 frame_time, current_detections[id]
             )
 
+            if autotracker_update:
+                for c in self.callbacks["autotrack"]:
+                    c(self.name, updated_obj, frame_time)
+
             if thumb_update:
                 # ensure this frame is stored in the cache
                 if (
@@ -749,6 +778,9 @@ 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
+        )
 
         def start(camera, obj: TrackedObject, current_frame_time):
             self.event_queue.put(
@@ -775,6 +807,9 @@ class TrackedObjectProcessor(threading.Thread):
                 )
             )
 
+        def autotrack(camera, obj: TrackedObject, current_frame_time):
+            self.ptz_autotracker_thread.ptz_autotracker.autotrack_object(camera, obj)
+
         def end(camera, obj: TrackedObject, current_frame_time):
             # populate has_snapshot
             obj.has_snapshot = self.should_save_snapshot(camera, obj)
@@ -823,6 +858,7 @@ class TrackedObjectProcessor(threading.Thread):
                     "type": "end",
                 }
                 self.dispatcher.publish("events", json.dumps(message), retain=False)
+                self.ptz_autotracker_thread.ptz_autotracker.end_object(camera, obj)
 
             self.event_queue.put(
                 (
@@ -859,8 +895,11 @@ class TrackedObjectProcessor(threading.Thread):
             self.dispatcher.publish(f"{camera}/{object_name}", status, retain=False)
 
         for camera in self.config.cameras.keys():
-            camera_state = CameraState(camera, self.config, self.frame_manager)
+            camera_state = CameraState(
+                camera, self.config, self.frame_manager, self.ptz_autotracker_thread
+            )
             camera_state.on("start", start)
+            camera_state.on("autotrack", autotrack)
             camera_state.on("update", update)
             camera_state.on("end", end)
             camera_state.on("snapshot", snapshot)
@@ -1002,6 +1041,7 @@ 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:
                 (
@@ -1122,4 +1162,5 @@ 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...")
diff --git a/frigate/ptz.py b/frigate/ptz.py
index 385a230bc..f7971a455 100644
--- a/frigate/ptz.py
+++ b/frigate/ptz.py
@@ -4,9 +4,11 @@ import logging
 import site
 from enum import Enum
 
+import numpy
 from onvif import ONVIFCamera, ONVIFError
 
 from frigate.config import FrigateConfig
+from frigate.types import CameraMetricsTypes
 
 logger = logging.getLogger(__name__)
 
@@ -26,8 +28,11 @@ class OnvifCommandEnum(str, Enum):
 
 
 class OnvifController:
-    def __init__(self, config: FrigateConfig) -> None:
+    def __init__(
+        self, config: FrigateConfig, camera_metrics: dict[str, CameraMetricsTypes]
+    ) -> None:
         self.cams: dict[str, ONVIFCamera] = {}
+        self.camera_metrics = camera_metrics
 
         for cam_name, cam in config.cameras.items():
             if not cam.enabled:
@@ -68,12 +73,51 @@ class OnvifController:
         ptz = onvif.create_ptz_service()
         request = ptz.create_type("GetConfigurationOptions")
         request.ConfigurationToken = profile.PTZConfiguration.token
+        ptz_config = ptz.GetConfigurationOptions(request)
 
-        # setup moving request
+        fov_space_id = next(
+            (
+                i
+                for i, space in enumerate(
+                    ptz_config.Spaces.RelativePanTiltTranslationSpace
+                )
+                if "TranslationSpaceFov" in space["URI"]
+            ),
+            None,
+        )
+
+        # setup continuous moving request
         move_request = ptz.create_type("ContinuousMove")
         move_request.ProfileToken = profile.token
         self.cams[camera_name]["move_request"] = move_request
 
+        # setup relative moving request for autotracking
+        move_request = ptz.create_type("RelativeMove")
+        move_request.ProfileToken = profile.token
+        if move_request.Translation is None and fov_space_id is not None:
+            move_request.Translation = ptz.GetStatus(
+                {"ProfileToken": profile.token}
+            ).Position
+            move_request.Translation.PanTilt.space = ptz_config["Spaces"][
+                "RelativePanTiltTranslationSpace"
+            ][fov_space_id]["URI"]
+            move_request.Translation.Zoom.space = ptz_config["Spaces"][
+                "RelativeZoomTranslationSpace"
+            ][0]["URI"]
+        if move_request.Speed is None:
+            move_request.Speed = ptz.GetStatus({"ProfileToken": profile.token}).Position
+        self.cams[camera_name]["relative_move_request"] = move_request
+
+        # setup relative moving request for autotracking
+        move_request = ptz.create_type("AbsoluteMove")
+        move_request.ProfileToken = profile.token
+        self.cams[camera_name]["absolute_move_request"] = move_request
+
+        # status request for autotracking
+        status_request = ptz.create_type("GetStatus")
+        status_request.ProfileToken = profile.token
+        self.cams[camera_name]["status_request"] = status_request
+
         # setup existing presets
         try:
             presets: list[dict] = ptz.GetPresets({"ProfileToken": profile.token})
@@ -94,6 +138,20 @@ class OnvifController:
         if ptz_config.Spaces and ptz_config.Spaces.ContinuousZoomVelocitySpace:
             supported_features.append("zoom")
 
+        if ptz_config.Spaces and ptz_config.Spaces.RelativePanTiltTranslationSpace:
+            supported_features.append("pt-r")
+
+        if ptz_config.Spaces and ptz_config.Spaces.RelativeZoomTranslationSpace:
+            supported_features.append("zoom-r")
+
+        if fov_space_id is not None:
+            supported_features.append("pt-r-fov")
+            self.cams[camera_name][
+                "relative_fov_range"
+            ] = ptz_config.Spaces.RelativePanTiltTranslationSpace[fov_space_id]
+
+        self.cams[camera_name]["relative_fov_supported"] = fov_space_id is not None
+
         self.cams[camera_name]["features"] = supported_features
 
         self.cams[camera_name]["init"] = True
@@ -143,12 +201,74 @@ class OnvifController:
 
         onvif.get_service("ptz").ContinuousMove(move_request)
 
+    def _move_relative(self, camera_name: str, pan, tilt, speed) -> None:
+        if not self.cams[camera_name]["relative_fov_supported"]:
+            logger.error(f"{camera_name} does not support ONVIF RelativeMove (FOV).")
+            return
+
+        logger.debug(f"{camera_name} called RelativeMove: pan: {pan} tilt: {tilt}")
+        self.get_camera_status(camera_name)
+
+        if self.cams[camera_name]["active"]:
+            logger.warning(
+                f"{camera_name} is already performing an action, not moving..."
+            )
+            return
+
+        self.cams[camera_name]["active"] = True
+        self.camera_metrics[camera_name]["ptz_moving"].value = True
+        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
+        move_request = self.cams[camera_name]["relative_move_request"]
+
+        # function takes in -1 to 1 for pan and tilt, interpolate to the values of the camera.
+        # The onvif spec says this can report as +INF and -INF, so this may need to be modified
+        pan = numpy.interp(
+            pan,
+            [-1, 1],
+            [
+                self.cams[camera_name]["relative_fov_range"]["XRange"]["Min"],
+                self.cams[camera_name]["relative_fov_range"]["XRange"]["Max"],
+            ],
+        )
+        tilt = numpy.interp(
+            tilt,
+            [-1, 1],
+            [
+                self.cams[camera_name]["relative_fov_range"]["YRange"]["Min"],
+                self.cams[camera_name]["relative_fov_range"]["YRange"]["Max"],
+            ],
+        )
+
+        move_request.Speed = {
+            "PanTilt": {
+                "x": speed,
+                "y": speed,
+            },
+            "Zoom": 0,
+        }
+
+        # move pan and tilt separately
+        move_request.Translation.PanTilt.x = pan
+        move_request.Translation.PanTilt.y = 0
+        move_request.Translation.Zoom.x = 0
+
+        onvif.get_service("ptz").RelativeMove(move_request)
+
+        move_request.Translation.PanTilt.x = 0
+        move_request.Translation.PanTilt.y = tilt
+        move_request.Translation.Zoom.x = 0
+
+        onvif.get_service("ptz").RelativeMove(move_request)
+
+        self.cams[camera_name]["active"] = False
+
     def _move_to_preset(self, camera_name: str, preset: str) -> None:
         if preset not in self.cams[camera_name]["presets"]:
             logger.error(f"{preset} is not a valid preset for {camera_name}")
             return
 
         self.cams[camera_name]["active"] = True
+        self.camera_metrics[camera_name]["ptz_moving"].value = True
         move_request = self.cams[camera_name]["move_request"]
         onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
         preset_token = self.cams[camera_name]["presets"][preset]
@@ -158,6 +278,7 @@ class OnvifController:
                 "PresetToken": preset_token,
             }
         )
+        self.camera_metrics[camera_name]["ptz_moving"].value = False
         self.cams[camera_name]["active"] = False
 
     def _zoom(self, camera_name: str, command: OnvifCommandEnum) -> None:
@@ -216,3 +337,28 @@ class OnvifController:
             "features": self.cams[camera_name]["features"],
             "presets": list(self.cams[camera_name]["presets"].keys()),
         }
+
+    def get_camera_status(self, camera_name: str) -> dict[str, any]:
+        if camera_name not in self.cams.keys():
+            logger.error(f"Onvif is not setup for {camera_name}")
+            return {}
+
+        if not self.cams[camera_name]["init"]:
+            self._init_onvif(camera_name)
+
+        onvif: ONVIFCamera = self.cams[camera_name]["onvif"]
+        status_request = self.cams[camera_name]["status_request"]
+        status = onvif.get_service("ptz").GetStatus(status_request)
+
+        self.cams[camera_name]["active"] = status.MoveStatus.PanTilt != "IDLE"
+        self.camera_metrics[camera_name]["ptz_moving"].value = (
+            status.MoveStatus.PanTilt != "IDLE"
+        )
+
+        return {
+            "pan": status.Position.PanTilt.x,
+            "tilt": status.Position.PanTilt.y,
+            "zoom": status.Position.Zoom.x,
+            "pantilt_moving": status.MoveStatus.PanTilt,
+            "zoom_moving": status.MoveStatus.Zoom,
+        }
diff --git a/frigate/ptz_autotrack.py b/frigate/ptz_autotrack.py
new file mode 100644
index 000000000..5761aa475
--- /dev/null
+++ b/frigate/ptz_autotrack.py
@@ -0,0 +1,269 @@
+"""Automatically pan, tilt, and zoom on detected objects via onvif."""
+
+import logging
+import threading
+import time
+from multiprocessing.synchronize import Event as MpEvent
+
+import cv2
+import numpy as np
+from norfair.camera_motion import MotionEstimator, TranslationTransformationGetter
+
+from frigate.config import CameraConfig, FrigateConfig
+from frigate.ptz import OnvifController
+from frigate.types import CameraMetricsTypes
+from frigate.util import SharedMemoryFrameManager, intersection_over_union
+
+logger = logging.getLogger(__name__)
+
+
+class PtzMotionEstimator:
+    def __init__(self, config: CameraConfig, ptz_moving) -> None:
+        self.frame_manager = SharedMemoryFrameManager()
+        # homography is nice (zooming) but slow, translation is pan/tilt only but fast.
+        self.norfair_motion_estimator = MotionEstimator(
+            transformations_getter=TranslationTransformationGetter()
+        )
+        self.camera_config = config
+        self.coord_transformations = None
+        self.ptz_moving = ptz_moving
+        logger.debug(f"Motion estimator init for cam: {config.name}")
+
+    def motion_estimator(self, detections, frame_time, camera_name):
+        if self.camera_config.onvif.autotracking.enabled and self.ptz_moving.value:
+            logger.debug(f"Motion estimator running for {camera_name}")
+
+            frame_id = f"{camera_name}{frame_time}"
+            frame = self.frame_manager.get(frame_id, self.camera_config.frame_shape)
+
+            # mask out detections for better motion estimation
+            mask = np.ones(frame.shape[:2], frame.dtype)
+
+            detection_boxes = [x[2] for x in detections]
+            for detection in detection_boxes:
+                x1, y1, x2, y2 = detection
+                mask[y1:y2, x1:x2] = 0
+
+            # merge camera config motion mask with detections. Norfair function needs 0,1 mask
+            mask = np.bitwise_and(mask, self.camera_config.motion.mask).clip(max=1)
+
+            # Norfair estimator function needs color
+            frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGRA)
+
+            self.coord_transformations = self.norfair_motion_estimator.update(
+                frame, mask
+            )
+
+            self.frame_manager.close(frame_id)
+
+            return self.coord_transformations
+
+        return None
+
+
+class PtzAutoTrackerThread(threading.Thread):
+    def __init__(
+        self,
+        config: FrigateConfig,
+        onvif: OnvifController,
+        camera_metrics: CameraMetricsTypes,
+        stop_event: MpEvent,
+    ) -> None:
+        threading.Thread.__init__(self)
+        self.name = "frigate_ptz_autotracker"
+        self.ptz_autotracker = PtzAutoTracker(config, onvif, camera_metrics)
+        self.stop_event = stop_event
+        self.config = config
+
+    def run(self):
+        while not self.stop_event.is_set():
+            for camera_name, cam in self.config.cameras.items():
+                if cam.onvif.autotracking.enabled:
+                    self.ptz_autotracker.camera_maintenance(camera_name)
+                    time.sleep(1)
+        logger.info("Exiting autotracker...")
+
+
+class PtzAutoTracker:
+    def __init__(
+        self,
+        config: FrigateConfig,
+        onvif: OnvifController,
+        camera_metrics: CameraMetricsTypes,
+    ) -> None:
+        self.config = config
+        self.onvif = onvif
+        self.camera_metrics = camera_metrics
+        self.tracked_object: dict[str, object] = {}
+        self.tracked_object_previous: dict[str, object] = {}
+        self.object_types = {}
+        self.required_zones = {}
+
+        # if cam is set to autotrack, onvif should be set up
+        for camera_name, cam in self.config.cameras.items():
+            if cam.onvif.autotracking.enabled:
+                logger.debug(f"Autotracker init for cam: {camera_name}")
+
+                self.object_types[camera_name] = cam.onvif.autotracking.track
+                self.required_zones[camera_name] = cam.onvif.autotracking.required_zones
+
+                self.tracked_object[camera_name] = None
+                self.tracked_object_previous[camera_name] = None
+
+                if not onvif.cams[camera_name]["init"]:
+                    if not self.onvif._init_onvif(camera_name):
+                        return
+                    if not onvif.cams[camera_name]["relative_fov_supported"]:
+                        cam.onvif.autotracking.enabled = False
+                        self.camera_metrics[camera_name][
+                            "ptz_autotracker_enabled"
+                        ].value = False
+                        logger.warning(
+                            f"Disabling autotracking for {camera_name}: FOV relative movement not supported"
+                        )
+
+    def _autotrack_move_ptz(self, camera, obj):
+        camera_config = self.config.cameras[camera]
+
+        # # frame width and height
+        camera_width = camera_config.frame_shape[1]
+        camera_height = camera_config.frame_shape[0]
+
+        # Normalize coordinates. top right of the fov is (1,1).
+        pan = 0.5 - (obj.obj_data["centroid"][0] / camera_width)
+        tilt = 0.5 - (obj.obj_data["centroid"][1] / camera_height)
+
+        # Calculate zoom amount
+        size_ratio = camera_config.onvif.autotracking.size_ratio
+        int(size_ratio * camera_width)
+        int(size_ratio * camera_height)
+
+        # ideas: check object velocity for camera speed?
+        self.onvif._move_relative(camera, -pan, tilt, 1)
+
+    def autotrack_object(self, camera, obj):
+        camera_config = self.config.cameras[camera]
+
+        # check if ptz is moving
+        self.onvif.get_camera_status(camera)
+
+        if camera_config.onvif.autotracking.enabled:
+            # either this is a brand new object that's on our camera, has our label, entered the zone, is not a false positive, and is not initially motionless
+            # or one we're already tracking, which assumes all those things are already true
+            if (
+                # new object
+                self.tracked_object[camera] is None
+                and obj.camera == camera
+                and obj.obj_data["label"] in self.object_types[camera]
+                and set(obj.entered_zones) & set(self.required_zones[camera])
+                and not obj.previous["false_positive"]
+                and not obj.false_positive
+                and self.tracked_object_previous[camera] is None
+            ):
+                logger.debug(f"Autotrack: New object: {obj.to_dict()}")
+                self.tracked_object[camera] = obj
+                self.tracked_object_previous[camera] = obj
+                self._autotrack_move_ptz(camera, obj)
+
+                return
+
+            if (
+                # already tracking an object
+                self.tracked_object[camera] is not None
+                and self.tracked_object_previous[camera] is not None
+                and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
+                and obj.obj_data["frame_time"]
+                != self.tracked_object_previous[camera].obj_data["frame_time"]
+            ):
+                # don't move the ptz if we're relatively close to the existing box
+                # should we use iou or euclidean distance or both?
+                # distance = math.sqrt((obj.obj_data["centroid"][0] - camera_width/2)**2 + (obj.obj_data["centroid"][1] - obj.camera_height/2)**2)
+                # if distance <= (self.camera_width * .15) or distance <= (self.camera_height * .15)
+                if (
+                    intersection_over_union(
+                        self.tracked_object_previous[camera].obj_data["box"],
+                        obj.obj_data["box"],
+                    )
+                    < 0.05
+                ):
+                    logger.debug(
+                        f"Autotrack: Existing object (do NOT move ptz): {obj.to_dict()}"
+                    )
+                    return
+
+                logger.debug(f"Autotrack: Existing object (move ptz): {obj.to_dict()}")
+                self.tracked_object_previous[camera] = obj
+                self._autotrack_move_ptz(camera, obj)
+
+                return
+
+            if (
+                # The tracker lost an object, so let's check the previous object's region and compare it with the incoming object
+                # If it's within bounds, start tracking that object.
+                # Should we check region (maybe too broad) or expand the previous object's box a bit and check that?
+                self.tracked_object[camera] is None
+                and obj.camera == camera
+                and obj.obj_data["label"] in self.object_types[camera]
+                and not obj.previous["false_positive"]
+                and not obj.false_positive
+                and obj.obj_data["motionless_count"] == 0
+                and self.tracked_object_previous[camera] is not None
+            ):
+                if (
+                    intersection_over_union(
+                        self.tracked_object_previous[camera].obj_data["region"],
+                        obj.obj_data["box"],
+                    )
+                    < 0.2
+                ):
+                    logger.debug(f"Autotrack: Reacquired object: {obj.to_dict()}")
+                    self.tracked_object[camera] = obj
+                    self.tracked_object_previous[camera] = obj
+                    self._autotrack_move_ptz(camera, obj)
+
+                return
+
+    def end_object(self, camera, obj):
+        if self.config.cameras[camera].onvif.autotracking.enabled:
+            if (
+                self.tracked_object[camera] is not None
+                and obj.obj_data["id"] == self.tracked_object[camera].obj_data["id"]
+            ):
+                logger.debug(f"Autotrack: End object: {obj.to_dict()}")
+                self.tracked_object[camera] = None
+                self.onvif.get_camera_status(camera)
+
+    def camera_maintenance(self, camera):
+        # calls get_camera_status to check/update ptz movement
+        # returns camera to preset after timeout when tracking is over
+        autotracker_config = self.config.cameras[camera].onvif.autotracking
+
+        if autotracker_config.enabled:
+            # regularly update camera status
+            if self.camera_metrics[camera]["ptz_moving"].value:
+                self.onvif.get_camera_status(camera)
+
+            # return to preset if tracking is over
+            if (
+                self.tracked_object[camera] is None
+                and self.tracked_object_previous[camera] is not None
+                and (
+                    # might want to use a different timestamp here?
+                    time.time() - self.tracked_object_previous[camera].last_published
+                    > autotracker_config.timeout
+                )
+                and autotracker_config.return_preset
+                and not self.camera_metrics[camera]["ptz_moving"].value
+            ):
+                logger.debug(
+                    f"Autotrack: Time is {time.time()}, returning to preset: {autotracker_config.return_preset}"
+                )
+                self.onvif._move_to_preset(
+                    camera,
+                    autotracker_config.return_preset.lower(),
+                )
+                self.tracked_object_previous[camera] = None
+
+    def disable_autotracking(self, camera):
+        # need to call this if autotracking is disabled by mqtt??
+        self.tracked_object[camera] = None
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index b0c4621b4..48cc029ee 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -5,7 +5,8 @@ import numpy as np
 from norfair import Detection, Drawable, Tracker, draw_boxes
 from norfair.drawing.drawer import Drawer
 
-from frigate.config import DetectConfig
+from frigate.config import CameraConfig
+from frigate.ptz_autotrack import PtzMotionEstimator
 from frigate.track import ObjectTracker
 from frigate.util import intersection_over_union
 
@@ -54,12 +55,16 @@ def frigate_distance(detection: Detection, tracked_object) -> float:
 
 
 class NorfairTracker(ObjectTracker):
-    def __init__(self, config: DetectConfig):
+    def __init__(self, config: CameraConfig, ptz_autotracker_enabled, ptz_moving):
         self.tracked_objects = {}
         self.disappeared = {}
         self.positions = {}
-        self.max_disappeared = config.max_disappeared
-        self.detect_config = config
+        self.max_disappeared = config.detect.max_disappeared
+        self.camera_config = config
+        self.detect_config = config.detect
+        self.ptz_autotracker_enabled = ptz_autotracker_enabled.value
+        self.ptz_moving = ptz_moving
+        self.camera_name = config.name
         self.track_id_map = {}
         # TODO: could also initialize a tracker per object class if there
         #       was a good reason to have different distance calculations
@@ -69,6 +74,8 @@ class NorfairTracker(ObjectTracker):
             initialization_delay=0,
             hit_counter_max=self.max_disappeared,
         )
+        if self.ptz_autotracker_enabled:
+            self.ptz_motion_estimator = PtzMotionEstimator(config, self.ptz_moving)
 
     def register(self, track_id, obj):
         rand_id = "".join(random.choices(string.ascii_lowercase + string.digits, k=6))
@@ -230,7 +237,19 @@ class NorfairTracker(ObjectTracker):
                 )
             )
 
-        tracked_objects = self.tracker.update(detections=norfair_detections)
+        coord_transformations = None
+
+        if (
+            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
+            )
+
+        tracked_objects = self.tracker.update(
+            detections=norfair_detections, coord_transformations=coord_transformations
+        )
 
         # update or create new tracks
         active_ids = []
diff --git a/frigate/types.py b/frigate/types.py
index 8c3e54654..29991552f 100644
--- a/frigate/types.py
+++ b/frigate/types.py
@@ -16,6 +16,8 @@ class CameraMetricsTypes(TypedDict):
     frame_queue: Queue
     motion_enabled: Synchronized
     improve_contrast_enabled: Synchronized
+    ptz_autotracker_enabled: Synchronized
+    ptz_moving: Synchronized
     motion_threshold: Synchronized
     motion_contour_area: Synchronized
     process: Optional[Process]
diff --git a/frigate/video.py b/frigate/video.py
index c02ad15c4..4dfcbedab 100755
--- a/frigate/video.py
+++ b/frigate/video.py
@@ -457,6 +457,8 @@ def track_camera(
     detection_enabled = process_info["detection_enabled"]
     motion_enabled = process_info["motion_enabled"]
     improve_contrast_enabled = process_info["improve_contrast_enabled"]
+    ptz_autotracker_enabled = process_info["ptz_autotracker_enabled"]
+    ptz_moving = process_info["ptz_moving"]
     motion_threshold = process_info["motion_threshold"]
     motion_contour_area = process_info["motion_contour_area"]
 
@@ -476,7 +478,7 @@ def track_camera(
         name, labelmap, detection_queue, result_connection, model_config, stop_event
     )
 
-    object_tracker = NorfairTracker(config.detect)
+    object_tracker = NorfairTracker(config, ptz_autotracker_enabled, ptz_moving)
 
     frame_manager = SharedMemoryFrameManager()
 
@@ -497,6 +499,7 @@ def track_camera(
         detection_enabled,
         motion_enabled,
         stop_event,
+        ptz_moving,
     )
 
     logger.info(f"{name}: exiting subprocess")
@@ -721,6 +724,7 @@ def process_frames(
     detection_enabled: mp.Value,
     motion_enabled: mp.Value,
     stop_event,
+    ptz_moving: mp.Value,
     exit_on_empty: bool = False,
 ):
     # attribute labels are not tracked and are not assigned regions