There is provided a method for determining a need for a change in a pixel density requirement due to changing light conditions. The pixel density requirement specifies a pixel density which enables identification of an object in images captured by a camera. The method comprises receiving and monitoring (S02) a camera setting which is indicative of a light condition to which the camera is subjected and which affects the quality of images captured by the camera, and determining (S06) that there is a need for a change in the pixel density requirement upon detection (S04) of a change in the camera setting. The camera setting includes at least one of a gain and an exposure time used by the camera when capturing images.