I just saw this this morning. I'll probably come back later and read the rest of the thread, but I noticed there were a couple of posts on the first two pages saying they could not figure out where the bicycle came from at 6:17. It can be seen in front of the van parked on the left at 6:17.
I went back and watched the video a few times and figured out where the cyclist came from. He can be seen at 6:13 heading towards us, just beyond the second crosswalk. He only appears for a second or so between pedestrians and the automatic system does not detect him at that time either, but he's still pretty far away. After that he is eclipsed for about three seconds by the man walking diagonally from right to left across the road. The cyclist is approaching from further down the whole time, but most of the time he's behind that other pedestrian, then after passing the two parked vans, the cyclist turns and goes toward the sidewalk, at which time he comes out from behind the pedestrian and can be seen again (6:17 in the video).