Some problems are simply undecideable: if for identical inputs the desired output varies wildly, you simply need more information. There is no algorithm that will help you.

Sensors or intelligence, at the end of the day it’s an engineering problem which doesn’t require pure solutions. Sometimes sensors break and cameras get covered in mud.

The problem is maintaining an acceptable level of quality at the lowest possible price, and at some point you spend more money on clever algorithms and researchers than a lidar.