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Tesla Autopilot Crashes into Motorcycle Riders. Why? - FortNine
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Anecdotally, I've been on the full-vision stack for several months now and it's significantly better at detecting pedestrians and motorcycles. I've also had no phantom braking events since I got into the beta, which is just as important to me. Just last night I had it drive me 10 miles home on Pennsylvania back roads and I didn't have to touch the wheel until it got to my house.
That said, I think having a detailed 3D map of the environment directly out of the sensors is far more useful than trying to generate one from video, but I also don't see a reason not to do both. I'm pretty sure they use Lidar to train the FSD model, too.