How Tesla’s Vision-Only Autopilot Estimates Depth

HN commenters cite it in Tesla threads as the primary-source explanation of why Tesla removed radar and how its vision depth estimation works.

Andrej Karpathy, then Tesla's head of AI, gives a CVPR 2021 workshop keynote on how Autopilot's neural networks work. A large part covers the move to a vision-only stack, including why radar was dropped and how vision produces depth estimates.