Detection of Door and Door-handle

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Hello everyone,

I am working on Project, where I have to detect the door and door-handle. And after the detection, robot should grasp the handle to open the door and go outside.

I am working on Ubuntu 16.04 and ROS kinetic.

Using YOLO it detects the both door and door-handle very well.

Now my question is :

Is there any possibility that I can use YOLO and convert it into 3D to grasp the handle and open it ? Or should I have go with 3D laser scanner and point cloud library? If so, which approach would be convenient?

I have found couple of results in google, but I am not pretty sure which would be convenient for this project.