An auto-tracking imaging apparatus comprising: an imaging optical system (12, 112) that is formed of a first optical system at a central portion thereof and a second optical system which is provided at the periphery of the first optical system and has an optical axis the same as that of the first optical system, where the first optical system is a wide-angle optical system, and the second optical system is a telephoto optical system; a directional sensor (17; 117) that has an image sensor (18; 116) having a plurality of pixels constituted of photoelectric conversion elements two-dimensionally arranged and (i) a micro lens array as a pupil division means, each micro lens of which forms a central pupil image of circular shape and an annular pupil image corresponding to first and the second optical system, respectively, or (ii) a micro lens array as a pupil division means and a light blocking member, micro lenses of the micro lens array corresponding one-to-one with the pixels (116a, 116b) of the image sensor, and the light blocking member defining opening shapes corresponding to the first optical system and the second optical system, respectively, wherein the pupil division means pupil-divides rays incident through the first and second optical systems such that the plurality of pixels selectively receive the rays, a panning/tilting mechanism that rotates an imaging section, which includes the imaging optical system (12, 112) and the directional sensor (17, 117), in horizontal and vertical directions; an image acquisition section that respectively acquires a wide-angle image formed on the directional sensor (17, 117) through the first optical system, and a telephoto image formed on the directional sensor (17, 117) through the second optical system; an object detection section that detects a tracking target object on the basis of the wide-angle image acquired by the image acquisition section; and a panning/tilting control section that controls the panning/tilting mechanism such that the tracking target object is at the center of the wide-angle image on the basis of information about a position of the tracking target object in the wide-angle image, wherein an angle of view of at least the telephoto image is set to include the tracking target object. an imaging optical system (12, 112) that is formed of a first optical system at a central portion thereof and a second optical system which is provided at the periphery of the first optical system and has an optical axis the same as that of the first optical system, where the first optical system is a wide-angle optical system, and the second optical system is a telephoto optical system; a directional sensor (17; 117) that has an image sensor (18; 116) having a plurality of pixels constituted of photoelectric conversion elements two-dimensionally arranged and (i) a micro lens array as a pupil division means, each micro lens of which forms a central pupil image of circular shape and an annular pupil image corresponding to first and the second optical system, respectively, or (ii) a micro lens array as a pupil division means and a light blocking member, micro lenses of the micro lens array corresponding one-to-one with the pixels (116a, 116b) of the image sensor, and the light blocking member defining opening shapes corresponding to the first optical system and the second optical system, respectively, (i) a micro lens array as a pupil division means, each micro lens of which forms a central pupil image of circular shape and an annular pupil image corresponding to first and the second optical system, respectively, or (ii) a micro lens array as a pupil division means and a light blocking member, micro lenses of the micro lens array corresponding one-to-one with the pixels (116a, 116b) of the image sensor, and the light blocking member defining opening shapes corresponding to the first optical system and the second optical system, respectively, wherein the pupil division means pupil-divides rays incident through the first and second optical systems such that the plurality of pixels selectively receive the rays, a panning/tilting mechanism that rotates an imaging section, which includes the imaging optical system (12, 112) and the directional sensor (17, 117), in horizontal and vertical directions; an image acquisition section that respectively acquires a wide-angle image formed on the directional sensor (17, 117) through the first optical system, and a telephoto image formed on the directional sensor (17, 117) through the second optical system; an object detection section that detects a tracking target object on the basis of the wide-angle image acquired by the image acquisition section; and a panning/tilting control section that controls the panning/tilting mechanism such that the tracking target object is at the center of the wide-angle image on the basis of information about a position of the tracking target object in the wide-angle image, wherein an angle of view of at least the telephoto image is set to include the tracking target object.