I can't find aggregate statistics for Palo Alto, but here's the 2012/2013 statistics for the New York Burroughs.

Cyclists killed 1 pedestrian (in 2013) and injured 560 pedestrians for a mortality rate of .1%.

Drivers killed 326 pedestrians and injured 24411, a mortality rate of 1.3%.

Clearly bikers are killing pedestrians and are very dangerous.

See page 2 for source:

http://www.nyc.gov/html/dot/downloads/pdf/2013-bicycle-crash...

http://www.nyc.gov/html/dot/downloads/pdf/2012-bicycle-crash...