With the SLAM algorithms I am familiar, they are mostly statistics and abstracted above the camera component. They are mainly concerned with where am I most lik

With the SLAM algorithms I am familiar, they are mostly statistics and abstracted above the camera component. They are mainly concerned with where am I most likely to be given I am witnessing these previously seen landmarks and have this noise model. Moreover, the chosen statistical model has to be such that it can be updated rapidly as new landmarks and state estimates are added (which typically presents as an increase in dimension until you hit some limit you impose).