Kodak essentially invented the modern digital camera, and had a phenomenal lead going into the 90s. It was not a little side project—they hired IDEO to do vision work, design enclosures and create on-camera UIs. They poured money in, and did ship products. I'd love to know what happened internally, but externally they simply didn't move as quickly and aggressively as they needed to.
Very similar story at Polaroid—it's not like they didn't see the iceberg.
On the computing side, we have Xerox. Just couldn't figure out how to monetize any of the world-changing innovations from PARC.
Someone should really interview all these key players while they're (mostly) still alive and put together some kind of unified field theory of corporate disruption.