Robert Johnson was 16 years old when he was arrested in 1996 on charges of murder, home invasion and armed robbery and was sentenced to prison for 80 years. Now 45, he was released from prison Thursday after a judge vacated his conviction.

Johnson's attorneys said police took him from his grandmother's house and arrested him in connection with the April 14, 1996, murder of Eddie Binion, a drug dealer who was shot and killed in a robbery in his apartment. Johnson's grandmother, Mary Robinson, is now 92. They reunited on Thursday night.

A Chicago man who served nearly 30 years in prison was released on Thursday after having his conviction in a 1996 murder vacated.

Robert Johnson had been behind bars since he was a teenager. He was freed Thursday night after a jury overturned his murder conviction. There was no physical evidence or witnesses who tied Johnson to the 1996 murder of drug dealer Eddie Binion.