Abstract: The present invention relates to pick planning for robotic picking applications to improve efficiency of automated picking operations and reduce robot down time. A pick plan is computed by obtaining data of a pick scene, processing the obtained data to identify objects and determine features associated with the objects, and determining an order and pick instructions based on the features. A computed pick plan may be periodically verified by reacquiring data of the pick scene and comparing the reacquired data with previous pick scene data in order to determine if a pick plan remains appropriate or should be updated or discarded and recomputed.