1. A method of orienting a sensor, comprising: generating a depth image from a sensor having a field of view; determining one or more potential targets based on the depth image; selecting one of the potential targets as a candidate object to track with the sensor; determining whether to re-orient the sensor based on the present orientation of the sensor and a position of the candidate object in the field of view; re-orienting the sensor if it is determined to do so; and repeating the generating depth information, the determining one or more potential targets, the selecting, the determining whether to re-orient the sensor, and the re-orienting the sensor until it is determined not to re-orient the sensor.