Watch . Especially near 6:20. This guy worked at MIT on autonomous driving for 10 years and had worked at Tesla as Director of Model X program and he is now Director of Autopilot. From what I can tell this guy is a genius and he's the reason behind Elon's prediction that complete autonomous driving will be realized in two years. Listened to his Ted talk about Delaunay triangulation and corridor theory but still not very sure how the tech behind it works. Would love to hear more about this technology from you guys.