diff --git a/ultralytics/__init__.py b/ultralytics/__init__.py
index fb4f0cd0..51f802ab 100644
--- a/ultralytics/__init__.py
+++ b/ultralytics/__init__.py
@@ -1,6 +1,6 @@
 # Ultralytics YOLO 🚀, AGPL-3.0 license
 
-__version__ = "8.2.52"
+__version__ = "8.2.53"
 
 import os
 
diff --git a/ultralytics/solutions/heatmap.py b/ultralytics/solutions/heatmap.py
index 04d467f3..c40cafb1 100644
--- a/ultralytics/solutions/heatmap.py
+++ b/ultralytics/solutions/heatmap.py
@@ -60,9 +60,9 @@ class Heatmap:
         self.heatmap_alpha = heatmap_alpha
 
         # Predict/track information
-        self.boxes = None
-        self.track_ids = None
-        self.clss = None
+        self.boxes = []
+        self.track_ids = []
+        self.clss = []
         self.track_history = defaultdict(list)
 
         # Region & Line Information
@@ -107,16 +107,17 @@ class Heatmap:
             print("Using Circular shape now")
             self.shape = "circle"
 
-    def extract_results(self, tracks, _intialized=False):
+    def extract_results(self, tracks):
         """
         Extracts results from the provided data.
 
         Args:
             tracks (list): List of tracks obtained from the object tracking process.
         """
-        self.boxes = tracks[0].boxes.xyxy.cpu()
-        self.clss = tracks[0].boxes.cls.cpu().tolist()
-        self.track_ids = tracks[0].boxes.id.int().cpu().tolist()
+        if tracks[0].boxes.id is not None:
+            self.boxes = tracks[0].boxes.xyxy.cpu()
+            self.clss = tracks[0].boxes.cls.tolist()
+            self.track_ids = tracks[0].boxes.id.int().tolist()
 
     def generate_heatmap(self, im0, tracks):
         """
@@ -138,7 +139,7 @@ class Heatmap:
         self.extract_results(tracks)
         self.annotator = Annotator(self.im0, self.tf, None)
 
-        if self.track_ids is not None:
+        if self.track_ids:
             # Draw counting region
             if self.count_reg_pts is not None:
                 self.annotator.draw_region(