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OctoMap is more than suited for stereo vision and RGB-D data (e.g. from Kinect or Asus Xtion), in fact it's mainly used on the PR2 to build collision maps from stereo (in the packages collider and octomap_server). Just use the PointCloud2 message type to build maps.

The only limitation might be the amount of data you can insert, I have seen rates of about 10 Hz for tabletop (arm navigation) data. If the insertion / map update gets too slow, you can downsample your data, limit its maximum range in octomap, or increase the octomap resolution (voxel size).