[foxtr0t]

Object detection is mostly solved though, right? I don't think anyone is advocating using LiDAR for detection. It is used to accurately model depth and then localize the vehicle and surrounding objects/vehicles. The "floating" phenomenon you're talking about is noise from the computation method(s) Tesla uses to build a composite 3D model. You can fix that with LiDAR. I'd wager this noise gets worse in some circumstances. You can try to fix it by piling on noise reduction methods, but at a certain point, one has to wonder when it becomes obvious that an extra $X/vehicle to make the problem go away forever makes sense, where X is a monotonically decreasing value that'll probably get down to ~$200 with scale/R&D.