The video does look great. I think in that case they are using 2d occupancy map and they might have projected depth image to laser scan data which is relatively quite less expensive for fusing into the occupancy map. I also think that the LSD SLAM demo might be running on the ground station, although, if we manage to do it onboard like that then ours would also look quite awesome.
I did run some tests on Odroid today and it took ~0.4s for octomap cloud insertion on it, so I guess we can run it at 2Hz for now. I’ll also take a look into how to parallelize point cloud insertion in octomap, which should improve the performance further.