More Research

I have read some articles about descriptors and how to use depth and color segmentation together, which are going to be an important phase of my work.

Shape Distributions on Voxel Surfaces for 3D Object Classification From Depth Images 

Walter Wohlkinger, Markus Vincze 
Vision4Robotics Group, Automation and Control Institute, Vienna University of Technology, Austria
[2011 IEEE International Conference on Signal and Image Processing Applications (ICSIPA2011)]

3DNet: Large-Scale Object Class Recognition from CAD Models 
Walter Wohlkinger and Aitor Aldoma and Radu B. Rusu and Markus Vincze
[2012 IEEE International Conference on Robotics and Automation]

Object Detection using the Kinect
Jason Owens,Vehicle Technology Directorate, ARL

Due to configuration process, I still have problems in using PCL. Probably I will spend more time on achieving this next week.