Looks like a velodyne 64 based laser. It is virtually impossible for those to not be able to see the the bicycle well in advanced. Uber had a serious issue here. Something like:

1. System was off

2. Point clouds were not being registered correctly (at all!)

3. It was actually in manual mode -- safety driver didn't realize or didnt react fast enough.

4. Planning module failed

4. Worst outcome in my opinion: Point cloud registered correctly, obstacle map generated correctly, system was on, planner spit out a path but the path took them through the bicycle.

The LIDAR data look pretty noisy, especially for distant objects. Could not they filter out the pedestrian thinking it is a bush or something like this?