Robot Navigation using kinect and 3D mapping for humanoid robot

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I have been working on this project and trying to establish a 3D mapping environment. But my main question lies, whether

I can use the 3D mapping from kinect v2 and be able to do navigation for the humanoid robot. I was successfully able to process 3D mapping using rtabmap and rviz.

Currently, I am using ubuntu 14.04 LTS, processor Intel® Core™ i5-3210M CPU @ 2.50GHz × 4, kinect v2. Kindly guide me in this matter, that how am I supposed to implement navigation on humanoid robot.