Dynamic collision avoidance

Hi all,
I have read about the controller option "Collision Avoidance" and that it is useful when you have objects which can change their position and that you can detect with sensors like cameras, etc.
Actually from the manuals that I found online, it seems like you have to load all the geometries from RobotStudio and so in this case you can't manage objects that moves.
How is it possible to manage collision avoidance through program execution (for example to detect the position and volume of an object and add it to the list of geometries you must avoid)?
Is there a good and exhaustive manual about Collision Avoidance option? I've just found a few pages on some manual that do not explain a lot...
Thank you!