So LIDAR says there's something, and maybe the car should stop. Maybe is not acceptable (and blind in the rain/fog), so you must rely on vision to make the dec

So LIDAR says there's something, and maybe the car should stop. Maybe is not acceptable (and blind in the rain/fog), so you must rely on vision to make the decision – which is why Tesla goes straight to the heart of the problem. They haven't solved it yet, obviously, but neither has Waymo or anyone else. Tesla is probably collecting more images of 'moon or traffic light?' images than the rest of the industry combined already.