|If the photos are on an SD memory card, buy an SD card reader and plug it into your computer's USB port. Now remove the SD card from the camera and put it into the card reader.|
You can buy an SD card reader at any camera shop and it does not need a device driver for Windows XP as it's a plug-and-play device.
If the photos are not on a memory card but they are on the camera's built-in memory, you will need to install the Polaroid software that should have been supplied with the camera.
Unfortunately, if you don't have the software, I cannot find any Polaroid website where this software can be downloaded.