The purpose of the SLAM system is very specific, for detecting cones in an image and triangulate their position to create a map.  

The data input would be the camera data, odometry and the LIDAR data.  

I have been going through SLAM algorithms on [openSLAM.org](http://openslam.org) and through other implementations of SLAM systems.  

I would like to know if there are a set of SLAM algorithms specific for the problem I have and what are the most efficient and least time consuming SLAM algorithms available. Any leads would be helpful.