Abstract: A safety system for preventing aircraft collisions with objects on the ground is provided herein. The safety system may include gated imaging sensors attached to the aircraft that capture overlapping gated images which are images that allow estimating the range of the imaged objects. The overlap zones are utilized to generate a three dimensional model of the aircraft surroundings. Additionally, aircraft contour data and aircraft kinematic data are used to construct an expected swept volume of the aircraft which is then projected onto the three dimensional model of the aircraft surroundings to derive an estimation of likelihood of collision of the aircraft with objects in its surroundings and corresponding warnings.