Hi all,
although it has been available in the packages for quite a while, I wanted to officially announce our ROS Hydro package for localizing handles in 3D point clouds:
http://wiki.ros.org/handle_detector
You can see a demonstration of the localization on Rethink Robotics' Baxter robot that is clearing several objects from a table in this video:
https://www.youtube.com/watch?v=qjE5X7pTjKE
A tutorial for using our software is available at the ROS wiki page given above.