As someone inexpert in SD car vision systems, I believe lidar (or an equivalent) likely will be necessary to enable level 3 in confusing spaces like tight urban

As someone inexpert in SD car vision systems, I believe lidar (or an equivalent) likely will be necessary to enable level 3 in confusing spaces like tight urban traffic or bad weather. Light cameras, even in stereo, don't support reliable rangefinding at distance (since quickly identifying & tracking a trustworthy focal point on every essential target object isn't trivial, esp in low/noisy light). For years to come, SD car software will surely remain inferior to the human visual system in combining target acquisition, recognition, interpretation, and tracking. To compensate, car software needs all the sensory augmentation it can get to build a better model of surroundings, like adding lidar, radar, or structured light to the car's multiple light cameras.