Just to nitpick/paint a less absolute picture: Having worked at a couple companies using lidar, you can make out stuff like road markings based on relative brig

Just to nitpick/paint a less absolute picture: Having worked at a couple companies using lidar, you can make out stuff like road markings based on relative brightness (especially if retroreflective paint is used), in ideal conditions, but that's of course not everywhere. I agree a combo seems like the way forward.