Tesla uses only cameras (some color and some black and white I believe) along with a radar system and perhaps sonar? But Tesla is controversial in their approach - essentially all other self driving systems use depth sensors. Tesla makes the argument that you can actually calculate depth from moving cameras, which is true. The technique is called structure from motion and it is well understood. However a lidar is a more direct and reliable way of measuring depth accurately, so others use them.

The difference being that all Teslas manufactured in the last two years or so have this camera sensor system installed on them, so they can all be upgraded to self driving with a software or computer upgrade. No one else is shipping cars that can be self driving. So Tesla has the advantage of collecting a huge data set of real world data now, and if they get the system working they can somewhat instantly “activate” a huge self driving fleet. Other companies have more expensive sensor systems such that the price is too high to sell the vehicles (only rent as taxis), and they will have to start manufacturing vehicles after they get everything finalized.

If Tesla and Waymo perfect their systems at the same time, Tesla will be way ahead.