US Patent 11415990 Optical object tracking on focal plane with dynamic focal length

A method of tracking an image feature is described. The method comprises acquiring an image with a camera, and determining, using processing circuitry, a bounding area in the image, the bounding area surrounding a feature in the image. The method further comprises determining, using processing circuitry, a rotation axis and a rotation angle based on a first focal length of the camera and a position of the bounding area relative to a center of the image. The method further comprises determining, using processing circuitry, at least one of a pan angle, a roll angle, and a tilt angle for the camera at which the bounding area is centered in the image. The method further comprises adjusting, using a gimbal, an orientation of the camera based on the at least one of the pan angle, the roll angle, and the tilt angle.