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From my point of view, one of the best ways to find out which SBC to use is to take a look at what other people have published regarding their experiments with ROS. As an example, in ethzasl_ptam wiki page, there are some references to published works that include technical details about a working SBC based flying robot doing Visual SLAM and navigation.

From my own experience, you need a SBC with least a 1.0Ghz modern CPU + 2GB of RAM. If power consumption is not a concern, I would recommend Intel Core CPUs over Atoms.