You'll need to think about what sort of algorithm you'd want to use to do this, as it's not entirely obvious. If a substring is asdf.1asdf, should that be parsed as the decimal value 0.1 or simply 1?
Also, can some of the embedded numbers be negative? If not this greatly simplifies the search space.
I think that aix is on the right track with using a regex, since once you come up with an algorithm this sounds like the kind of job for a state machine (scan through the input until you find a digit or optionally a - or ., then look for the next "illegal" character and parse the substring normally).
It's the edge cases that you have to think about though - for example, without negative numbers you can almost use s.split("[^0-9.]") and filter out the non-empty elements. However, period characters that aren't part of a number will get you. Whatever solution you go with, think about whether any situations could trip it up.