Team 987 used the Kinect on their robot in 2012. They used another processor board to process all the information and pass it on to the control system. Since the RobotRIO now has USB ports you could do this on the new control system but it will likely overload the processor (our testing showed that even processing USB camera images on the RoboRIO in Java or C++ puts a heavy load on the processor - LabView code seemed to handle it better). So, you will probably want to implement it as they did with a separate processor.
See:
http://www.chiefdelphi.com/forums/sh...d.php?t=106634