You can use XMLBeans http://xmlbeans.apache.org. For most use cases around XML/Java binding people seem to be moving to JAXB since it is built in. But for what you want to do, XMLBeans provides access to some great high level data structures that represent schemae in a way that is easy to traverse.
You can start with something like...
SchemaTypeSystem sts = XmlBeans.compileXsd(new XmlObject[] {
XmlObject.Factory.parse(xsdFile) }, XmlBeans.getBuiltinTypeSystem(), null);
From there you should be able to figure out how to drill into the SchemaTypeSystem from the JavaDoc.
If someone knows of an alternative that is as convenient and relatively supported, it would be great to know about it. I'm actively looking.