Abstract: A barcode decoding system and method for compensating for motion of between an image sensor and a barcode to improve decoding of the barcode. The barcode decoding system includes an imager for capturing an image of the barcode, a motion sensor for collecting acceleration data and a processor that is configured to determine a velocity of the image sensor during the exposure period based on the acceleration data and a periodic motion model, The determined velocity is used to adjust the edge detection algorithm used to detect the barcode features in order to decode the barcode. The orientation of the captured barcode can also be determined in order to determine the velocity in a direction perpendicular to the barcode features.