Mongoose is higher level and uses the MongoDB driver (it’s a dependency, check the package.json), so you’ll be using that either way given those options. The question you should be asking yourself is, “Do I want to use the raw driver, or do I need an object-document modeling tool?” If you’re looking for an object modeling (ODM, a counterpart to ORMs from the SQL world) tool to skip some lower level work, you want Mongoose.
If you want a driver, because you intend to break a lot of rules that an ODM might enforce, go with MongoDB. If you want a fast driver, and can live with some missing features, give Mongolian DeadBeef a try: https://github.com/marcello3d/node-mongolian