diff --git a/frigate/camera/state.py b/frigate/camera/state.py
index fee6e4e23..c307bea1e 100644
--- a/frigate/camera/state.py
+++ b/frigate/camera/state.py
@@ -263,6 +263,27 @@ class CameraState:
                 current_detections[id],
             )
 
+            # add initial frame to frame cache
+            self.frame_cache[frame_time] = np.copy(current_frame)
+
+            # save initial thumbnail data and best object
+            thumbnail_data = {
+                "frame_time": frame_time,
+                "box": new_obj.obj_data["box"],
+                "area": new_obj.obj_data["area"],
+                "region": new_obj.obj_data["region"],
+                "score": new_obj.obj_data["score"],
+                "attributes": new_obj.obj_data["attributes"],
+                "current_estimated_speed": 0,
+                "velocity_angle": 0,
+                "path_data": [],
+                "recognized_license_plate": None,
+                "recognized_license_plate_score": None,
+            }
+            new_obj.thumbnail_data = thumbnail_data
+            tracked_objects[id].thumbnail_data = thumbnail_data
+            self.best_objects[new_obj.obj_data["label"]] = new_obj
+
             # call event handlers
             for c in self.callbacks["start"]:
                 c(self.name, new_obj, frame_name)
diff --git a/frigate/track/norfair_tracker.py b/frigate/track/norfair_tracker.py
index 3487aa8c0..ec2bdfa7d 100644
--- a/frigate/track/norfair_tracker.py
+++ b/frigate/track/norfair_tracker.py
@@ -129,6 +129,11 @@ class NorfairTracker(ObjectTracker):
                 "distance_function": frigate_distance,
                 "distance_threshold": 2.5,
             },
+            "license_plate": {
+                "filter_factory": OptimizedKalmanFilterFactory(R=2.5, Q=0.05),
+                "distance_function": frigate_distance,
+                "distance_threshold": 3.75,
+            },
         }
 
         # Define autotracking PTZ-specific configurations
@@ -273,17 +278,24 @@ class NorfairTracker(ObjectTracker):
         )
         self.tracked_objects[id] = obj
         self.disappeared[id] = 0
+        if obj_match:
+            boxes = [p.data["box"] for p in obj_match.past_detections]
+        else:
+            boxes = [obj["box"]]
+
+        xmins, ymins, xmaxs, ymaxs = zip(*boxes)
+
         self.positions[id] = {
-            "xmins": [],
-            "ymins": [],
-            "xmaxs": [],
-            "ymaxs": [],
+            "xmins": list(xmins),
+            "ymins": list(ymins),
+            "xmaxs": list(xmaxs),
+            "ymaxs": list(ymaxs),
             "xmin": 0,
             "ymin": 0,
             "xmax": self.detect_config.width,
             "ymax": self.detect_config.height,
         }
-        self.stationary_box_history[id] = []
+        self.stationary_box_history[id] = boxes
 
     def deregister(self, id, track_id):
         obj = self.tracked_objects[id]
@@ -369,9 +381,9 @@ class NorfairTracker(ObjectTracker):
                 }
                 return False
 
-        # if there are less than 10 entries for the position, add the bounding box
+        # if there are more than 5 and less than 10 entries for the position, add the bounding box
         # and recompute the position box
-        if len(position["xmins"]) < 10:
+        if 5 <= len(position["xmins"]) < 10:
             position["xmins"].append(xmin)
             position["ymins"].append(ymin)
             position["xmaxs"].append(xmax)
@@ -599,7 +611,10 @@ class NorfairTracker(ObjectTracker):
 
         # print a table to the console with norfair tracked object info
         if False:
-            self.print_objects_as_table(self.trackers["person"]["ptz"].tracked_objects)
+            if len(self.trackers["license_plate"]["static"].tracked_objects) > 0:
+                self.print_objects_as_table(
+                    self.trackers["license_plate"]["static"].tracked_objects
+                )
 
         # Get tracked objects from type-specific trackers
         for object_trackers in self.trackers.values():
@@ -644,3 +659,20 @@ class NorfairTracker(ObjectTracker):
                 color=(255, 0, 0),
                 thickness=None,
             )
+
+        if False:
+            # draw the current formatted time on the frame
+            from datetime import datetime
+
+            formatted_time = datetime.fromtimestamp(frame_time).strftime(
+                "%m/%d/%Y %I:%M:%S %p"
+            )
+
+            frame = Drawer.text(
+                frame,
+                formatted_time,
+                position=(10, 50),
+                size=1.5,
+                color=(255, 255, 255),
+                thickness=None,
+            )
diff --git a/frigate/track/tracked_object.py b/frigate/track/tracked_object.py
index b7c3af287..58a4e0b83 100644
--- a/frigate/track/tracked_object.py
+++ b/frigate/track/tracked_object.py
@@ -144,8 +144,14 @@ class TrackedObject:
                 obj_data,
                 self.camera_config.frame_shape,
             ):
+                # use the current frame time if the object's frame time isn't in the frame cache
+                selected_frame_time = (
+                    current_frame_time
+                    if obj_data["frame_time"] not in self.frame_cache.keys()
+                    else obj_data["frame_time"]
+                )
                 self.thumbnail_data = {
-                    "frame_time": current_frame_time,
+                    "frame_time": selected_frame_time,
                     "box": obj_data["box"],
                     "area": obj_data["area"],
                     "region": obj_data["region"],