An image based bar-code reading and robotic registration apparatus and method for use in automated tape library systems is disclosed. An imager is positioned on a picker assembly with its own illumination source and appropriate optics to filter out ambient light. The imager connects to a microprocessor in its immediate vicinity. All image acquisition and processing are done by these components. To ensure operation independent of illumination variations, the image processing code developed for this invention automatically adapts to dynamic lighting situations. The tape cartridge cells are used as fiducials to allow tape cartridge registration without fiducial markings. The use of the tape cartridge cells as fiducials maximizes storage capability.