Abstract: A machine vision system for use with a robotic system that takes frozen sample cores from frozen samples that are in containers includes a camera and a fill level detection system. A processor is configured to receive signals from the fill level detection system and use the signals to determine where to position the camera to obtain an image of the frozen samples. The processor can be configured to receive image data from the camera and to determine locations of bores where frozen sample cores have already been taken. The processor uses this data to move a coring probe into an open end of at least one bore to clear the bore of debris. The system can include a light for illuminating the containers. The majority of the light energy emitted by the light has a wavelength of 620-750 nm or 495-570 nm.