If you already have the SDK in your language, go for it; it's a no-brainer from a project perspective. The SDK is additional engineering that they have already done and tested for you at no additional cost. In other words, the SDK is already converting the HTTP REST API into the application domain/language for you.
Think of the REST API as a the lowest common denominator that AWS must support and that the SDK (likely) as implementing the REST API below it. In some cases (eg: some Windows Azure SDKs), the SDKs are actually more efficient because they switch to a TCP based communications channel instead of REST (which is TCP plus HTTP), which eliminate some of the HTTP overhead
Unless your entire goal is to spend additional time (development + testing) just to learn the underlying REST API, I'd vote SDK.