I may be way off base here, but hasn't the LIDAR field evolved enormously since 2006 (date of that paper)? Last I read prototype solid state LIDAR systems have ranges in the ~150m range, although I don't follow this field all that closely.
Given that the major players like Waymo/Uber/Apple etc seem to be betting very heavily on LIDAR, one would assume these challenges are being resolved. I suspect the traditionally very high cost of LIDAR was likely a much bigger factor in Tesla's decision not to use, rather than any technical reason. Cameras plus radar is vastly cheaper to ship for now.
Given that the major players like Waymo/Uber/Apple etc seem to be betting very heavily on LIDAR, one would assume these challenges are being resolved. I suspect the traditionally very high cost of LIDAR was likely a much bigger factor in Tesla's decision not to use, rather than any technical reason. Cameras plus radar is vastly cheaper to ship for now.