In one embodiment, a computing system instructs, at a first time, a camera having a plurality of pixel sensors to use the plurality of pixel sensors to capture a first image of an environment comprising an object. The computing system predicts, using at least the first image, a projection of the object appearing in a virtual image plane associated with a predicted camera pose at a second time. The computing system determines, based on the predicted projection of the object, a first region of pixels and a second region of pixels. The computing system generates pixel-activation instructions for the first region of pixels and the second region of pixels. The computing system instructs the camera to capture a second image of the environment at the second time according to the pixel-activation instructions. The pixel-activation instructions are configured to cause a first subset of the plurality of pixel sensors to sample the first region of pixels and a second subset of the plurality of pixel sensors to sample the second region of pixels. The first subset of the plurality of pixel sensors used for sampling the first region of pixels is more dense than the second subset of the plurality of pixel sensors used for sampling the second region of pixels. The computing system tracks, based on the second image, the object at the second time.