Process agnostic robot teaching using 3D scans

A robot teaching system, comprising:

• a first 3D scanning device and a second 3D scanning device;
• a process-agnostic pointing device;
• a computation device;
• and
• a storage device in communication with the computation device, the storage device storing instructions that when executed by the computation device results in a method comprising:
• causing the first 3D scanning device to capture a first 3D scan of a workpiece;
• causing the second 3D scanning device to track a first pose of the pointing device proximal to the workpiece, wherein the first pose is in response to a first user input and indicates a first spatial point;
• determining at least one best-fit geometry of at least a portion of the first 3D scan, the portion corresponding to a region of the workpiece to which the pointing device had been proximal;
• projecting the first spatial point to a first geometric point having a predefined relationship to an individual one of the best-fit geometries;
• and
• defining a robot instruction based on the first geometric point.