Abstract: One embodiment can provide a robotic system. The robotic system can include a robotic arm comprising an end-effector, an illumination unit comprising a plurality of single-color light sources of different colors, a structured-light projector to project codified light patterns onto a scene, one or more cameras to capture pseudo-color images of the scene illuminated by the single-color light sources of different colors and images of the scene with the projected codified light patterns, a pose-determination unit to determine a pose of a component based on the pseudo-color images and the images of the scene with the projected codified light patterns, a path-planning unit to generate a motion plan for the end-effector based on the determined pose of the component and a current pose of the end-effector, and a robotic controller to control movement of the end-effector according to the motion plan to allow the end-effector to grasp the component.