Apparatus and associated methods relate to determining a measure of collision risk between a taxiing aircraft and an object external to the taxiing aircraft. The measure of collision risk is determined using the dynamics of both the taxiing aircraft and the external object. The taxiing aircraft's dynamics can be determined based on collected position, heading, and ground-speed data. The external object's dynamics can be determined based on location data tracked by an object tracking system, for example. A measure of collision risk is calculated, based on the determined dynamics of both the taxiing aircraft and the external object. In some embodiments, image data of an area external to and including the taxiing aircraft is formed. The image data can be annotated with the calculated collision risks and/or indicia of regions of the taxiing aircraft and/or the external objects associated with the collision risks.