We tried to do Kinect on the robot using java last year. We found that it could be done using the OpenKinect Libraries as well as
Processing. Unfortunately, it only works on Mac OSX (We tried for a week to get it to work on linux). We eventually tried to run Macintosh on a cheap netbook, but despite that fact that the netbook was touted as being "Hackintosh" compatible, it wasn't.
I know of one team that got it to work. They used Microsoft's Kinect SDK and used UDP to send packets between an onboard computer and the cRIO via an ethernet cable.