Techniques are disclosed for systems and methods to generate image data based on avoidance areas for mobile targets and/or mobile structures. A collision avoidance system includes a logic device configured to communicate with a ranging sensor and/or a speed, position, and/or orientation sensor (SPOS) mounted to a mobile structure. The logic device may be configured to determine a projected course for a mobile target detected by the ranging sensor. The system may determine one or more avoidance areas based, at least in part, on the projected course for the mobile target and a speed, position, and/or orientation of the mobile structure detected by the SPOS. The system may generate image data based, at least in part, on the projected course, the one or more avoidance areas, and the detected orientation and/or position.