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ASUS are supposed to be releasing the Xtion PRO Developer Kit, an Primesense SDK based device. It may be easier to obtain than the Primesense SDK. Details are sketchy for a Q2 2011 release. Note that some photos show it without the color sensor (ie. depth only).
Have you tried playing with the RGBD-6D-SLAM entry in the recent OpenNI competition?
Given bandwidth limitations, you may want to decimate the point cloud. This tutorial may be a good starting point.

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