[Wronnay]

Did you ever drove through e.g. city centers in Europe or Asia?

There are not only missing lines but it's often also used by many people which walk on it. A self driving system doesn't only have to figure out where the steet ends and walkways begins but also has to correctly detect many moving people and animals.

Additionally, there are frequently side streets or walkways which are not mapped in every map database...

[hiptobecubic]

Yes. My point is that detecting people is not hard and everyone but Tesla already seems very good at it. What's hard is understanding what they want to do and reacting to it. That part is much easier if everything is going 10 mph or less.

Detecting inconspicuous transition between sidewalk and road is difficult, but if you haven't noticed, human drivers don't seem to care much about it either.