See, for example, Andrej's talk starting at the 6-minute mark. Lidar requires a pre-rendered detailed map of the lanes, traffic lights and obstacles. Vision can

See, for example, Andrej's talk starting at the 6-minute mark. Lidar requires a pre-rendered detailed map of the lanes, traffic lights and obstacles. Vision can operate in any novel environment the car is not preprogrammed for and is thus more scalable. https://www.youtube.com/watch?v=a510m7s_SVI https://www.youtube.com/watch?v=a510m7s_SVI