diff --git a/docs/docs/configuration/index.md b/docs/docs/configuration/index.md
index f659b5339..1fe1048e9 100644
--- a/docs/docs/configuration/index.md
+++ b/docs/docs/configuration/index.md
@@ -231,6 +231,8 @@ detect:
   fps: 5
   # Optional: enables detection for the camera (default: True)
   enabled: True
+  # Optional: Number of consecutive detection hits required for an object to be initialized in the tracker. (default: 1/2 the frame rate)
+  min_initialized: 2
   # Optional: Number of frames without a detection before Frigate considers an object to be gone. (default: 5x the frame rate)
   max_disappeared: 25
   # Optional: Configuration for stationary object tracking
diff --git a/frigate/config.py b/frigate/config.py
index 2c9734ec6..ebec6c843 100644
--- a/frigate/config.py
+++ b/frigate/config.py
@@ -352,6 +352,9 @@ class DetectConfig(FrigateBaseModel):
         default=5, title="Number of frames per second to process through detection."
     )
     enabled: bool = Field(default=True, title="Detection Enabled.")
+    min_initialized: Optional[int] = Field(
+        title="Minimum number of consecutive hits for an object to be initialized by the tracker."
+    )
     max_disappeared: Optional[int] = Field(
         title="Maximum number of frames the object can dissapear before detection ends."
     )
@@ -1143,6 +1146,11 @@ class FrigateConfig(FrigateBaseModel):
                             else DEFAULT_DETECT_DIMENSIONS["height"]
                         )
 
+            # Default min_initialized configuration
+            min_initialized = camera_config.detect.fps / 2
+            if camera_config.detect.min_initialized is None:
+                camera_config.detect.min_initialized = min_initialized
+
             # Default max_disappeared configuration
             max_disappeared = camera_config.detect.fps * 5
             if camera_config.detect.max_disappeared is None:
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index 058f246c7..1b7c63a4f 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -68,7 +68,6 @@ class NorfairTracker(ObjectTracker):
         self.untracked_object_boxes: list[list[int]] = []
         self.disappeared = {}
         self.positions = {}
-        self.max_disappeared = config.detect.max_disappeared
         self.camera_config = config
         self.detect_config = config.detect
         self.ptz_metrics = ptz_metrics
@@ -81,8 +80,8 @@ class NorfairTracker(ObjectTracker):
         self.tracker = Tracker(
             distance_function=frigate_distance,
             distance_threshold=2.5,
-            initialization_delay=self.detect_config.fps / 2,
-            hit_counter_max=self.max_disappeared,
+            initialization_delay=self.detect_config.min_initialized,
+            hit_counter_max=self.detect_config.max_disappeared,
         )
         if self.ptz_autotracker_enabled.value:
             self.ptz_motion_estimator = PtzMotionEstimator(