1. A mobile device, comprising: a first lens to receive first light reflected by an object; a Red-Green-Blue (RGB) image sensor to receive at least a portion of the first light via the first lens; a voice coil motor (VCM) mechanically coupled to the first lens to move the first lens relative to the RGB image sensor; a second lens to receive second light reflected by the object, wherein the first light does not include the second light; a panchromatic image sensor to receive at least a portion of the second light via a second lens; and a controller comprising: at least one memory that stores computer-executable instructions; and at least one processor that accesses the at least one memory and executes the computer-executable instructions to perform operations comprising: receiving a PD image data representing a PD image of the object from the panchromatic image sensor, wherein the PD image data is indicative of the at least a portion of the second light received by the panchromatic image sensor; determining a phase difference in the PD image by detecting a level of defocus of the object in the PD image; determining, using a look-up table, a focus offset distance corresponding to the phase difference; generating a first VCM control signal using the focus offset distance; providing the first VCM control signal to the VCM; receiving, from a hall sensor coupled to the first lens, a first displacement value indicative of movement of the first lens; determining that the first displacement value is not within a depth of focus (DOF) of the focus offset distance; providing, based at least in part on the first VCM control signal, a second VCM control signal to the VCM to displace the first lens from the RGB image sensor in a direction normal to the first lens by the focus offset distance; and capturing, by the RGB image sensor, an image of the object after the first lens is displaced.