This video shows the initialization process of landmarks, either as rays or as sigle Gaussians as described in the paper. The two camera views are shown, together with top and side views of the SLAM map. The 2-member ray is defined from left camera view, and projects into the right camera as two ellipses, the E-1 is the elongated one, the E-infty is the rounded one on the right. 3'sigma ellipses are drawn. E-infty is used to select whether the landmark will be treated as ray os Gaussian. Self-calibration allows to reduce the ellipses sizes and hence to increase the full observability range.