diff --git a/docs/vision/code_snippets/display_stream_with_workspace.py b/docs/vision/code_snippets/display_stream_with_workspace.py
index 3d45f4df..55ef585d 100644
--- a/docs/vision/code_snippets/display_stream_with_workspace.py
+++ b/docs/vision/code_snippets/display_stream_with_workspace.py
@@ -16,7 +16,7 @@
     img_compressed = robot.get_img_compressed()
     # Uncompressing image
     img_raw = vision.uncompress_image(img_compressed)
-    # Undistorting
+    # Undistorting (on Ned2, needed only for versions < v5.8.3-b62)
     img_undistort = vision.undistort_image(img_raw, mtx, dist)
     # Trying to find markers
     workspace_found, res_img_markers = vision.debug_markers(img_undistort)
diff --git a/docs/vision/code_snippets/undistort_and_display.py b/docs/vision/code_snippets/undistort_and_display.py
index 827fc831..41a9008b 100644
--- a/docs/vision/code_snippets/undistort_and_display.py
+++ b/docs/vision/code_snippets/undistort_and_display.py
@@ -17,7 +17,7 @@
     img_compressed = robot.get_img_compressed()
     # Uncompressing image
     img_raw = uncompress_image(img_compressed)
-    # Undistorting
+    # Undistorting (on Ned2, needed only for versions < v5.8.3-b62)
     img_undistort = undistort_image(img_raw, mtx, dist)
 
     # - Display
diff --git a/docs/vision/code_snippets/vision_pick.py b/docs/vision/code_snippets/vision_pick.py
index c51514e8..012cd85c 100644
--- a/docs/vision/code_snippets/vision_pick.py
+++ b/docs/vision/code_snippets/vision_pick.py
@@ -53,7 +53,7 @@ def process(niryo_robot):
         else:  # Home made image processing
             img_compressed = niryo_robot.get_img_compressed()
             img = vision.uncompress_image(img_compressed)
-            img = vision.undistort_image(img, mtx, dist)
+            img = vision.undistort_image(img, mtx, dist) # on Ned2, needed only for versions < v5.8.3-b62
             # extracting working area
             im_work = vision.extract_img_workspace(img, workspace_ratio=1.0)
             if im_work is None:
diff --git a/docs/vision/image_processing_overview.rst b/docs/vision/image_processing_overview.rst
index c67ff9c8..97e836bb 100644
--- a/docs/vision/image_processing_overview.rst
+++ b/docs/vision/image_processing_overview.rst
@@ -47,6 +47,10 @@ To undistort the raw image, we use :meth:`~pyniryo.vision.image_functions.undist
 which needs to be called with the parameters given by Ned through
 :meth:`~pyniryo.api.tcp_client.NiryoRobot.get_camera_intrinsics`.
 
+.. note::
+    On Ned2 since v5.8.3-b62, undistortion is done on robot's side before being sent.
+    This step is then not needed anymore if your robot's version is >= v5.8.3-b62
+
 Once, we have both raw & undistorted images, we can concatenate them in order
 to display them in once with :meth:`~pyniryo.vision.image_functions.concat_imgs`.
 Finally, we display the image :meth:`~pyniryo.vision.image_functions.show_img`.
diff --git a/examples/simple_scripts/video_stream.py b/examples/simple_scripts/video_stream.py
index 0c35e88f..4de97599 100644
--- a/examples/simple_scripts/video_stream.py
+++ b/examples/simple_scripts/video_stream.py
@@ -26,7 +26,7 @@ def video_stream(niyro_robot: NiryoRobot):
         img_compressed = niyro_robot.get_img_compressed()
         # Uncompressed image
         img_raw = vision.uncompress_image(img_compressed)
-        # Undistorted
+        # Undistorted  (on Ned2, needed only for versions < v5.8.3-b62)
         img_undistorted = vision.undistort_image(img_raw, mtx, dist)
         # Trying to find markers
         workspace_found, res_img_markers = vision.debug_markers(img_undistorted)
diff --git a/examples/vision_demonstrators/1_simple_reference_conditioning.py b/examples/vision_demonstrators/1_simple_reference_conditioning.py
index 74ecafe1..a202569c 100644
--- a/examples/vision_demonstrators/1_simple_reference_conditioning.py
+++ b/examples/vision_demonstrators/1_simple_reference_conditioning.py
@@ -66,7 +66,7 @@ def process(niryo_robot: NiryoRobot):
         else:  # Home made image processing
             img_compressed = niryo_robot.get_img_compressed()
             img = vision.uncompress_image(img_compressed)
-            img = vision.undistort_image(img, mtx, dist)
+            img = vision.undistort_image(img, mtx, dist) # on Ned2, needed only for versions < v5.8.3-b62
             # extracting working area
             im_work = vision.extract_img_workspace(img, workspace_ratio=1.0)
             if im_work is None:
diff --git a/pyniryo/vision/image_functions.py b/pyniryo/vision/image_functions.py
index db772d01..8252ee31 100644
--- a/pyniryo/vision/image_functions.py
+++ b/pyniryo/vision/image_functions.py
@@ -429,6 +429,8 @@ def undistort_image(img, mtx, dist):
     """
     Use camera intrinsics to undistort raw image
 
+    NOTE: On Ned2 since v5.8.3-b62, undistortion is done on robot's side before being sent.
+
     :param img: Raw Image
     :type img: numpy.array
     :param mtx: Camera Intrinsics matrix