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I don't know if something like this already exists but I suggest you to use Octomap to have a collisionMap. Maybe with that, you can then isolate obstacles easier. See this link

You will need to have a filter to erase the ground, this octomap server has this too.

I don't know if something like this already exists but I suggest you to use Octomap to have a collisionMap. Maybe with that, you can then isolate obstacles easier. See this link

You will need to have a filter to erase the ground, this octomap server has this too.

EDIT: If you know the object, you can use tabletop_object_detector but I don't believe this is what you are looking for.