The counter argument is lidar isn’t strictly necessary (case in point humans use vision, and roads are designed for visual drivers). Furthermore, there is potential added complexity in fusing lidar and video data. When lidar says the path is blocked and video says it is not, you essentially have to either trust lidar and stop unnecessarily or just ignore lidar and go anyway (and then what was the point of the lidar?). Having to make a decision like this is a form of complexity and addressing that complexity potentially takes resources away from iterating on the vision part of the stack.