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On self-driving, Waymo is playing chess while Tesla plays checkers
(arstechnica.com)
This is a most excellent place for technology news and articles.
A couple things#
I like the INS approach, but couple that with cameras to correct for random walk error (this is much like our eyes correcting for our inner ear.)
I think the issue with Google maps requiring GPS differentials for getting your trajectory has mostly to do with it being agnostic of your phone's orientation while moving.