kinect or monocular camera ??

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Hi,should i use kinect to do a semantic map ? can i use just monocular camera ? what all benefits to use a kinect in roboearth robots that can't done using normal camera ?

and if i want to navigate my robot within a room to reach the table , and begin to infer what is missing components in this table

to do this i must upload object maps of the all table components to Roboearth server using ( kinect or camera ?? ) and this semantic mapping(must be kinect or can use camera) ?? and begin to matching a picture of object with these models in the Database so it takes a pictures when reaching the table ?

all these using of camera in the project make me Confused

thanks in advance :)