I think what's maybe misleading here is that while there may be an accurate representation of a bicycle somewhere in someone's brain, that does not mean they're able to consciously access it and, e.g., recreate it through a task of complex motor coordination etc. (in order to produce a drawing, I mean).

However, if you are using an fMRI, as in the paper, all you need is the accurate representation somewhere (and you need to know where that somewhere is of course).

Another example: let's say you look at a picture of cheetah. Now you try to imagine it; what appears to you is a vague sort of resemblance but nowhere near as clear as when you were looking directly at it. But, just because the prompting for you to imagine the image didn't cause an accurate recreation in consciousness, doesn't mean it didn't occur elsewhere, perhaps at some earlier/lower-level stage of visual processing.