Cameras have poor dynamic range and can be easily blinded by bright surfaces. While it is true that humans do fine with only eyes, our eyes are significantly better than cameras.
More importantly, expectations are higher when an automated system is driving the car. It is not sufficient if, in aggregate, self-driving cars have fewer accidents. If you lose a loved one in an accident where the accident could have been easily avoided if a human was driving, then you're not going to be mollified to hear that in aggregate, fewer people are being killed by self-driving cars! You'd be outraged to hear such a justification! The expectation therefore is that in each individual injury accident a human clearly could not have handled the situation any better. Self-driving cars have to be significantly better than humans to be accepted by society, and that means it has to have better-than-human levels of vision (which lidars provide).