Using PointCloud data for object detection

edit

Hello,

I'm working on a project that uses Kinect as sensor for a robot. I intend to use PointCloud library for ROS. However, I don't know how to resolve or use the PointCloud data in order to detect objects. The object detection will be used in order to avoid obstacles using potential fields principle. So, I need to transform PointCloud data to obtain all possible obstacles (their coordinates, width, height, distance) in order to create forces to be used in the robot navigation. I don't know which tutorial should I follow? I would really appreciate if anybody gives me some guidance. Thanks in advance.