A visualization of how lidar mapping works.YouTube/Alex Kushleyev

There's been quite the arms race for driverless cars, with many companies declaring that their technology will hit markets by 2020.

But a recent report released by Juniper Research, a mobile and digital market research firm, has listed the top five players that are most likely to bring self-driving cars to consumers.

The automakers were scored on the follow categories: time spent developing related technologies; first live test and other trials conducted; the number of miles tested on public roads; the size of the fleet; media coverage; employees working on autonomous projects; and future opportunities.

Some companies that were selected based on those factors were then interviewed by Juniper's research team to finalize the ranking, a Juniper Research spokesperson told Tech Insider. 

Here's a look at the top five players, according to the report. 

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