A method for controlling an aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) to track a target object (108, 308, 408, 508, 708, 808, 1308, 1508), comprising: determining a change in one or more features between a first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and a second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2), wherein the one or more features are associated with the target object (108, 308, 408, 508, 708, 808, 1308, 1508), and wherein the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2) are captured at different points in time, and wherein the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2) are captured using an imaging device (206, 306, 406, 506, 706, 906, 1306, 1406, 1506, 1806) on the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400); adjusting a movement of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) based on the change in the one or more features between the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2); characterised in that obtaining an expected velocity vector of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) for tracking the target object (108, 308, 408, 508, 708, 808, 1308, 1508) and an expected rotating angular speed of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) for tracking the target object (108, 308, 408, 508, 708, 808, 1308, 1508) based on a change in one or more characteristics associated with the one or more features; and adjusting the movement of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) based on the expected velocity vector and the expected rotating angular speed. determining a change in one or more features between a first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and a second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2), wherein the one or more features are associated with the target object (108, 308, 408, 508, 708, 808, 1308, 1508), and wherein the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2) are captured at different points in time, and wherein the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2) are captured using an imaging device (206, 306, 406, 506, 706, 906, 1306, 1406, 1506, 1806) on the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400); adjusting a movement of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) based on the change in the one or more features between the first image frame (310-1, 410-1, 710-1, 1301-1, 1314-1, 2114-1) and the second image frame (310-2, 410-2, 710-2, 1301-2, 1314-2, 2114-2); characterised in that obtaining an expected velocity vector of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) for tracking the target object (108, 308, 408, 508, 708, 808, 1308, 1508) and an expected rotating angular speed of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) for tracking the target object (108, 308, 408, 508, 708, 808, 1308, 1508) based on a change in one or more characteristics associated with the one or more features; and adjusting the movement of the aerial vehicle (102, 202, 302, 402, 702, 1302, 1502, 2400) based on the expected velocity vector and the expected rotating angular speed.