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The easiest way is to use tabletop_object_detector. I had used it on my own platform and its working perfect! It's a tutorial which is contains some hints for using tabletop_object_detector:

Writing a Simple Pick and Place Application

By the way this Package is also have capability of recognizing objects by its 3d model database! but for segmentation the only work that you need to do is to call it's object_segmentation service which is returns the position of segmented objects!

Good Luck!