[kajecounterhack]

> Tesla does have a sizeable 3D ground truth; they collected tons of data mounting LiDAR on their test vehicles.

"Sizable" for evaluating safety has to be big enough to give small confidence intervals on your error -- and with self-driving, you need to cover a robust set of rare scenarios upsampled from general driving as well. I really doubt Tesla has what they need to convince themselves of higher levels of safety.