A control device is included in an imaging system including an imaging apparatus, a pan-tilt device that is controlled based on a result of analysis of a captured image captured by the imaging apparatus to cause the imaging apparatus to pan and tilt, and a distance measurement device. The control device includes a processor. The processor is configured to set a range of the analysis for detecting a specific object in the captured image based on information on a distance of the specific object acquired from the distance measurement device and at least one of information on a size of the specific object or information on a speed of the specific object.