This research develops a robotic vision and manipulation technologies for random bin-picking. Especially, we focus on the manipulation technology where a dual-arm manipulator first picks up an object from the pile, then regrasps it from the right hand to the left hand, and finally places it to the fixture. We first explain an overview of our research project. Then, we explain about the grasp/manipulation planner for a dual-arm manipulator. Here, our grasp planner is well applied for objects which can be approximated by multiple cylinders. Also, our pick-and-place planner can effectively find a regrasping posture of an object. In addition to the manipulation technology, we briefly explain about our vision technology to measure the position/orientation of an object. Finally, to show the effectiveness of our proposed approach, we show an experimental result of a dual-arm manipulator.