They did not see the Rohirrim for a number of reasons:
1/ Because the WK had tunnel vision, and was arrogant like any other bad General.
2/ In my minds eye, movie Theoden and his forces also found the short cut through the hills and cut out the orcs waiting to ambush them before they hit Minas Tirith.
3/The Nazgul were utterly focused on the city (remember they cannot see 'the real world' that well) and are probably relying on their fell beasts to see the foe and do the damage.
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