According to the requirement of RoboCup Standard Platform League (NAO) Rule Book, the author did some
experiments to finish the League’s tasks based on the humanoid robot NAO. The image captured by a moving camera
will have a distortion which is affected by the so called “rolling shutter”. The rolling shutter means that not all scanlines
are exposed over the same time interval. This paper presents the model of rolling shutter of cameras and principle of
capturing images. Then corrections to image distortion found on the NAO robots is described. At last the cases of
reversing the effects of a rolling shutter on the images taken by the robot’s moving camera are presented. This approach
improves the effectiveness of shape recognition and the accuracy of Tilt rate of field line.