LIDAR is not the only way for visual odometry as shown with the kitti challenge, stero camera show similar accuracy than LIDAR : http://www.cvlibs.net/datasets/kitti/eval_odometry.php

The same is true for object detection : http://www.cvlibs.net/datasets/kitti/eval_object.php

And tracking : http://www.cvlibs.net/datasets/kitti/eval_tracking.php