Robotic Arm for pick and palce

Hi all, Any one can advice me, the ideal required sensors for pick and place application using a robotic manipulator with ROS support. I have generally looked at things like Kinect and stereo cameras (Bumblebee2) which provide depth that can be used with PCL for object recognition and gripper positioning. Are there any other sensors would be preferred for such application and if not what are the drawbacks of stereo cameras in comparison to Kinect or other sensing capability.