diff --git a/supervision/metrics/detection.py b/supervision/metrics/detection.py
index d0e85e63..e7234973 100644
--- a/supervision/metrics/detection.py
+++ b/supervision/metrics/detection.py
@@ -84,8 +84,12 @@ class ConfusionMatrix:
         prediction_tensors = []
         target_tensors = []
         for prediction, target in zip(predictions, targets):
-            prediction_tensors.append(cls.convert_detections_to_tensor(prediction))
-            target_tensors.append(cls.convert_detections_to_tensor(target))
+            prediction_tensors.append(
+                cls.detections_to_tensor(prediction, with_confidence=True)
+            )
+            target_tensors.append(
+                cls.detections_to_tensor(target, with_confidence=False)
+            )
         return cls.from_tensors(
             predictions=prediction_tensors,
             targets=target_tensors,
@@ -95,15 +99,24 @@ class ConfusionMatrix:
         )
 
     @classmethod
-    def convert_detections_to_tensor(cls, detections: Detections) -> np.ndarray:
+    def detections_to_tensor(
+        cls, detections: Detections, with_confidence: bool = False
+    ) -> np.ndarray:
+        if detections.class_id is None:
+            raise ValueError(
+                "ConfusionMatrix can only be calculated for Detections with class_id"
+            )
+
         arrays_to_concat = [detections.xyxy, np.expand_dims(detections.class_id, 1)]
-        if detections.confidence is not None:
+
+        if with_confidence:
+            if detections.confidence is None:
+                raise ValueError(
+                    "ConfusionMatrix can only be calculated for Detections with confidence"
+                )
             arrays_to_concat.append(np.expand_dims(detections.confidence, 1))
 
-        return np.concatenate(
-            arrays_to_concat,
-            axis=1,
-        )
+        return np.concatenate(arrays_to_concat, axis=1)
 
     @classmethod
     def from_tensors(
diff --git a/test/metrics/test_detection.py b/test/metrics/test_detection.py
index 4bd72cf4..0ecab3f0 100644
--- a/test/metrics/test_detection.py
+++ b/test/metrics/test_detection.py
@@ -6,6 +6,7 @@ import pytest
 
 from supervision.detection.core import Detections
 from supervision.metrics.detection import ConfusionMatrix
+from test.utils import mock_detections
 
 CLASSES = np.arange(80)
 NUM_CLASSES = len(CLASSES)
@@ -119,26 +120,58 @@ BAD_CONF_MATRIX = worsen_ideal_conf_matrix(
 
 
 @pytest.mark.parametrize(
-    "detections, exception",
+    "detections, with_confidence, expected_result, exception",
     [
         (
-            DETECTIONS,
+            Detections.empty(),
+            False,
+            np.empty((0, 5), dtype=np.float32),
             DoesNotRaise(),
-        )
+        ),  # empty detections; no confidence
+        (
+            Detections.empty(),
+            True,
+            np.empty((0, 6), dtype=np.float32),
+            DoesNotRaise(),
+        ),  # empty detections; with confidence
+        (
+            mock_detections(xyxy=[[0, 0, 10, 10]], class_id=[0], confidence=[0.5]),
+            False,
+            np.array([[0, 0, 10, 10, 0]], dtype=np.float32),
+            DoesNotRaise(),
+        ),  # single detection; no confidence
+        (
+            mock_detections(xyxy=[[0, 0, 10, 10]], class_id=[0], confidence=[0.5]),
+            True,
+            np.array([[0, 0, 10, 10, 0, 0.5]], dtype=np.float32),
+            DoesNotRaise(),
+        ),  # single detection; with confidence
+        (
+            mock_detections(xyxy=[[0, 0, 10, 10], [0, 0, 20, 20]], class_id=[0, 1], confidence=[0.5, 0.2]),
+            False,
+            np.array([[0, 0, 10, 10, 0], [0, 0, 20, 20, 1]], dtype=np.float32),
+            DoesNotRaise(),
+        ),  # multiple detections; no confidence
+        (
+            mock_detections(xyxy=[[0, 0, 10, 10], [0, 0, 20, 20]], class_id=[0, 1], confidence=[0.5, 0.2]),
+            True,
+            np.array([[0, 0, 10, 10, 0, 0.5], [0, 0, 20, 20, 1, 0.2]], dtype=np.float32),
+            DoesNotRaise(),
+        ),  # multiple detections; with confidence
     ],
 )
-def test_convert_detections_to_tensor(
-    detections,
-    exception: Exception,
+def test_detections_to_tensor(
+    detections: Detections,
+    with_confidence: bool,
+    expected_result: Optional[np.ndarray],
+    exception: Exception
 ):
     with exception:
-        result = ConfusionMatrix.convert_detections_to_tensor(
+        result = ConfusionMatrix.detections_to_tensor(
             detections=detections,
+            with_confidence=with_confidence
         )
-
-        assert np.array_equal(result[:, :4], detections.xyxy)
-        assert np.array_equal(result[:, 4], detections.class_id)
-        assert np.array_equal(result[:, 5], detections.confidence)
+        assert np.array_equal(result, expected_result)
 
 
 @pytest.mark.parametrize(