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Abstract| Experience has shown that changes in illumination conditions may in uence the robustness of robot control based on machine vision even if such illumination changes appear practically negligible to a human. Recently, CMOS cameras have become available with a larger dynamic range than conventional (high quality) CCD-cameras. The use of such higher dynamic range cameras for robot control by machine vision is compared with the use of conventional cameras under various illuminationdoi:10.1109/robot.2001.932559 dblp:conf/icra/BachemMN01 fatcat:mmtjzr5ndffqhgtnq2aajgua2e