where, Q is the line frequency for image capturing, measured in Hz; v is the speed of the vehicle, the unit of which may be m/s; w is the number of pixels per one row of the line scan camera 14; and k is the preset scale factor, the value of which may be in the range of 0.01-100.

Step 103: controlling the line scan camera to perform image capturing on the chassis of the incoming vehicle with the line frequency.

At step 103, the line scan camera is controlled to captures images of the chassis of the vehicle at the determined line frequency. Here, the vehicle is an object, and the controlling of the line scan camera to perform image capturing on the chassis of the vehicle is to control the line scan camera to perform image capturing on the object.

In this embodiment, the line frequency of the line scan camera can be changed to the line frequency determined according to the speed of the vehicle, to control image capturing of the line scan camera performed on the chassis of the vehicle.

In this embodiment, the speed of the vehicle is measured, the line frequency for image capturing is determined according to the speed of the vehicle, and the line scan camera is controlled to capture images of the chassis of the vehicle at the determined line frequency. In this way, the line frequency of the line scan camera matches with the speed of the vehicle, which eliminates the deformation of images of the chassis of the vehicle captured by the line scan camera that would be otherwise occurs due to stretch or compression, and thereby improves utility of the images.

For convenience of explanation, in this embodiment, the vehicle is taken as an object for example for description.