To automatically unload a container, filled with either loose bags or boxes, a pick and place robot is required with an intelligent vision and control system. Pliant has developed a vision system based on infrared laser technology that is able to detect objects in a 3D point cloud. For example, loose bags that are stacked in layers inside a container. This presentation discusses the development of this vision system. It is the first part of a double presentation together with the company Controllab.