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re_kinect_object_detector publishes the detected objects on a topic, as described in the documentation: http://www.ros.org/wiki/re_kinect_object_detector

To get the object detections into KnowRob, you will need to write a topic listener that listens to all detected objects and creates the corresponding instances in the knowledge base. An example for the re_vision recognition component can be found in re_ontology/prolog/comp_re_vision.pl (re_vision_listener/1). There is currently no listener for the DetectionResult messages, but the only thing you need to do is to adapt the re_vision listener to the other message format.