Quite true -- but LIDAR has a very high refresh rate, and it's not hard to do better than naive grid mapping. This was a full height pedestrian plus bicycle, w

Quite true -- but LIDAR has a very high refresh rate, and it's not hard to do better than naive grid mapping. This was a full height pedestrian plus bicycle, which would have multiple nice returns from a Velodyne HDL 64 at these distances.