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Is the robot looking at the table/object? Segmentation won't succeed otherwise. If you're in Fuerte or Groovy, you can use interactive manipulation to position your robot, see http://www.ros.org/wiki/pr2_pick_and_place_demos/Tutorials/The%20Pick%20and%20Place%20Autonomous%20Demo/

Also, this shouldn't have been a problem back in April 2012, but recently if you were using Fuerte + Kinect, there was a launch misconfiguration that was killing segmentation that is now fixed.

Sorry not to answer in a very timely fashion. All my ROS answers emails were getting spam-filtered. :P