Systems, methods, and/or devices are used for moving an optical device relative to an image sensor to focus an image. A device acquires, by one or more depth sensors, a set of depth measurements within a predefined spatial coordinate system. A respective depth measurement of the set of depth measurements indicates a distance from the imaging device to an object. One or more orientation sensors determine orientation information of the imaging device within the predefined coordinate system. The method further comprises estimating an object distance between the imaging device and the object based on the set of depth measurements and the orientation information.