The source code for this can be checked out via svn from http://novellab-svn.brighton.ac.uk/svn/OSGColladaIO/
This is an autotools project which will pull down the trunk version of the ColladaIO for OpenSG2 and patch it to provide support for the extra elements.
To build this you'll need to do:
./autogen.sh
./configure --prefix=/usr
make
make install