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These are self inflicted problems by only using cameras.

These are entirely avoidable problems using the sensors and methods every other company besides Tesla are using

If those cameras were hooked up to an AR helmet and a human had 360 view of the car through them, I bet they could drive just fine. The data is there.

Sensors might be an alternate strategy though and a way to at least take vision processing out of the list of hard problems.

Radar and Lidar would make the car safer than if a human was driving?

those are sensors. "safer than a human" is broad and not really applicable to talking about just sensors. but as an example, lidar has orders of magnitude faster detection of an object than human perception. so in that case, sure it is much safer.

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