CapSen Robotics uses 3D cameras and proprietary 3D alignment and machine learning algorithms to detect the positions and orientations of multiple objects in cluttered scenes. Because of the statistical geometry tools we use, our system is the first truly general-purpose 3D object instance detection system. In addition to our state-of-the-art 3D vision technology, over the past year we have also leveraged the latest motion planning and collision avoidance algorithms to build a general-purpose software solution for robot motion planning and control. CapSen PiC is an all-in-one solution to turn any industrial robot arm into a bin picking work cell. PiC uses CapSen's universal 3D computer vision and motion planning technologies, which means no custom programming is required for new parts. PiC is a smart and dependable way to enable short-run assemblies and re-purpose robots for different tasks.