From what I have read, the Model S, at least, had this before Tesla and MobileEye had their falling out. This implies that they can do it, but the software cannot at the moment.
Yep, exactly right. The hardware is capable, but the software hasn't been created. Just like the original link - the hardware will (probably) provide enough input data to allow software to do all these cool things, but it's not been done yet and production code is a very long way from what is outlined.