I am trying to build an autonomous wheelchair system. The system will consist of an electrically powered wheelchair, a microsoft kinect and a Raspberry Pi. My Pi is running Ubuntu Mate with ROS Kinetic. Which library should I use to implement SLAM? RGBDslam? Hector_mapping? Or some other library? I have also looked into the Turtlebot tutorials, but they seem to really slow down my Pi (especially Gazebo ones).