Patent ID: 8452077

Claim:
A method for obtaining an image of a workpiece in a processing system comprising at least one processing chamber and a robot for transporting a workpiece to and from said at least one processing chamber along a workpiece transit path, said method comprising: capturing successive frames of an elongate stationary field of view transverse to a transit path portion of said workpiece transit path while said workpiece is transported along said transit path portion by said robot, said successive frames being captured at successive times in said stationary elongate field of view; illuminating said transit path portion with an elongate illumination pattern transverse to said transit path portion during said capturing of the successive frames; defining an image of said workpiece comprising said successive frames; computing respective correct locations of respective ones of said frames along a direction of said transit path portion, and correcting said image by defining the location of each frame in said image as the corresponding one of said respective correct locations.