Depends on what the other team had already picked but assuming your going in blind, and you got skilled players in each I might pick.
Crucible: UB, Sedna +Erb/Oak/Rook
Prison: Oak, Erb +UB/TB
Cata: UB, Oak +Reg/Rook
But frankly these choices are not necessarily any better than any others, its how you play 98% not what you play.