I would appreciate your help for choosing the appropriate real-time SLAM algorithm.
I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation.
The platform is Kobuki robot (Turtlebot2 without Kinect) which has wheel odometry. To get a better localization, I want to use camera (Fisheye) - optionally looking upwards.
There is a lot of algorithms available online, most of them output 6DoF (do I need 6DoF for a wheeled robot? (x,y,theta) is enough, right?). I tried using several algorithms, but still didn't find the optimal one.
I believe that Loop-Closure is needed as well, because the final application would be to have a robot that coverage the area (visit each point once).
ROS is used to implement this robot, with small dev board (Intel Atom x5 processor).
Thanks in Advance