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5hz on a dual core laptop might be hard to get. You'll need a GPU, and use SIFTGPU features otherwise detection & extraction of SURF will slow you down too much (~2hz). ORB might be an alternative, but I found them to be less accurate. With two cores, you will definitely need to reduce loop closure search (the ..._candidates settings, see parameter_server.cpp).
Setting the openni camera driver to QVGA and lower FPS (use dynamic reconfigure) will reduce the cpu load of the driver.
Producing Octomaps from online-mapping consumes a lot of RAM, because you need to store the clouds. Reducing resolution will also help here.
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