Does the taxi driver remember every sign in the city, every road and parking spot? No. They are humans - they remember the streets, some important spots that are confusing, maybe a couple of shortcuts. There is a huge difference between having a 3d map of everything in the city in the memory, and setting a GPS to an address, reading the signs as you go by and adhering to them. Also if self driving tech is to expand, you don't go putting the entire world into memory - that's not scaleable.
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