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Hi Salma,

There are several object detectors/recognizers that you could test to have an idea of the complexity of the task and figure out which one better fits your needs:

• http://ecto.willowgarage.com/recognition/user.html: provides you LINE-MOD (which should detect non-textured objects), TOD and transparent objects detection
• http://www.pointclouds.org/documentation/tutorials/#recognition-tutorial: PCL is indeed a powerful option to detect non-textured objects
• http://www.ros.org/wiki/blort_ros: monocular model based object detector (see tutorials in http://www.ros.org/wiki/blort_ros/Tutorials)
• http://personalrobotics.ri.cmu.edu/projects/moped.php
• and many more out there ...

HTH