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Hi, First thing that comes into my mind is RGBDslam. Because it works for a hand held camera and doesn't require odometry. But gmapping uses odometry. After going through the wiki of the hector_slam it seems that it also provides SLAM without odometry. So it depends on the sensor you are using.

For Kinect sensor you may use either RGBDslam or use hector_slam after converting the kinect pointclouds into laser pointclouds.

For Laser sensor I can think of only the hector_slam.

Hope to hear some answers from people who have already used hector_slam.

Thanks, Karthik