Looking at the picture and at the video, even though he is visible to the dashcam for longer (as the dashcam is higher up and further forward) realistically you would have only been able to see him once his front wheel passed the wheelie bin, which would have meant you had maybe 0.75 seconds at best, probably closer to 0.5 seconds given the speeds he is doing.
Now pulling out of that junction, I imagine you saw a gap, looked left to check if anything was potentially coming the other way to be aware of, looked back right to make sure the gap was fine and started your maneuver.
I think you will need to be very firm with your insurance company and mention this, and insist he was cycling dangerously and you want them to refute the claim.