Comment by ActorNightly

Thanks, saved some work.

And I'll add that it in practice it is not even that much unless you're doing some serious training, like a professional athlete. For most tasks, the accurate depth perception from this fades around the length of the arms.

ok, but a care is a few meters wide, isn't that enough for driving depth perception similar to humans

In fact there are even more depth perception clues. Maybe the most obvious is size (retinal versus assumed real world size). Further examples include motion parallax, linear perspective, occlusion, shadows, and light gradients

Here is a study on how these effects rank when it’s comes to (hand) reaching tasks in VR: https://pubmed.ncbi.nlm.nih.gov/29293512/

> Always worth noting, human depth perception is not just based on stereoscopic vision, but also with focal distance

Also subtle head and eye movements, which is something a lot of people like to ignore when discussing camera-based autonomy. Your eyes are always moving around which changes the perspective and gives a much better view of depth as we observe parallax effects. If you need a better view in a given direction you can turn or move your head. Fixed cameras mounted to a car's windshield can't do either of those things, so you need many more of them at higher resolutions to even come close to the amount of data the human eye can gather.

I keep wondering about the focal depth problem. It feels potentially solvable, but I have no idea how. I keep wondering if it could be as simple as a Magic Eye Autostereogram sort of thing, but I don't think that's it.

There have been a few attempts at solving this, but I assume that for some optical reason actual lenses need to be adjusted and it can't just be a change in the image? Meta had "Varifocal HMDs" being shown off for a bit, which I think literally moved the screen back and forth. There were a couple of "Multifocal" attempts with multiple stacked displays, but that seemed crazy. Computer Generated Holography sounded very promising, but I don't know if a good one has ever been built. A startup called Creal claimed to be able to use "digital light fields", which basically project stuff right onto the retina, which sounds kinda hogwashy to me but maybe it works?

Actually the reason people experience vection in VR is not focal depth but the dissonance between what their eyes are telling them and what their inner ear and tactile senses are telling them.

It's possible they get headaches from the focal length issues but that's different.

My understanding is that contextual clues are a big part of it too. We see a the pitcher wind up and throw a baseball as us more than we stereoscopically track its progress from the mound to the plate.

More subtly, a lot of depth information comes from how big we expect things to be, since everyday life is full of things we intuitively know the sizes of, frames of reference in the form of people, vehicles, furniture, etc . This is why the forced perspective of theme park castles is so effective— our brains want to see those upper windows as full sized, so we see the thing as 2-3x bigger than it actually is. And in the other direction, a lot of buildings in Las Vegas are further away than they look because hotels like the Bellagio have large black boxes on them that group a 2x2 block of the actual room windows.

Hesai has driven the cost into the $200 to 400 range now. That said I don't know what they cost for the ones needed for driving. Either way we've gone from thousands or tens of thousands into the hundreds dollar range now.

Waymo does their LiDAR in-house, so unfortunately we don’t know the specs or the cost

Less than the lives it saves.

Cheaper every year.

That’s the purpose of the neural networks