First of all, what programming language are you using?
If you're using LabVIEW and Java both have awesome vision examples built in.
Here's a link to the 2012 vision whitepaper:
https://decibel.ni.com/content/docs/DOC-20173
Here's a link to the getting started with kinect:
http://www.usfirst.org/sites/default...o r%20FRC.pdf
Also, if you search for the camera and kinect, you'll find lots of great tips.