A tracking device for tracking a target object includes an interface connectable to a camera configured to acquire an image and determine a location of the object within the image and a distance therefrom, a memory that stores first coordinates that indicate a location of the camera with respect to a reference point in the facility, and a first direction towards which the camera faces, and a processor configured to calculate a second direction from the camera to the object based on the first direction and the location of the object, based on the second direction and the distance, calculate second coordinates indicating a location of the target object with respect to the location of the camera, based on the first and second coordinates, calculate third coordinates indicating a location of the target object with respect to the reference point, and store the calculated third coordinates in the memory.