Oddly enough the big success was one of his less succesful series in Land of the Giants, perfect Sunday lunch viewing, had the advantage of being repeated around the time of the Beeb's big Burrowers adaptations (so little people were "cool") and the effects and giant props stood up surprisingly well by mid-90's standards.
The scenes with giants and little people in the same frame were often done entirely in-camera, by positioning the giant actor in the foreground and the little actor much further back to appear smaller in a 2-D picture. The shots were all story-boarded and designed in advance with mathematical precision regarding distances, angles, eye-lines, and what lens to use.
The result was a clean, "real" shot with no matte lines or weird fx artifacts. I wonder if Star Trek's "Who Mourns for Adonais"
would have benefitted from this approach after Apollo has his growth spurt, and Kirk is the little guy.