The video shows you driving straight past the two signs with no hesitation whatsoever, so this would be difficult to convince an adjudicator. However, we're not at that stage yet to put it to one side.
Is there any way to relieve me of this PCN?
Well, I think you will struggle, but why not submit a representation that you are a BB holder and had parked on Upper Ground recently, and unfortunately did not notice the No Motor Vehicles signs, there being no advance warning of the restriction. If you don't ask you don't get.
The only question I have is about the text signs below the Flying Motorbike signs, as it is unreadable on the Lambeth photos. It is a possible exemption to the sign, so we need to know what it says.