A computer-implemented method for operating a collision-avoidance system (100; 250) on an autonomous vehicle (10; 200; 390), the method comprising: receiving, by the collision-avoidance system (100; 250), image data (151; 156; 600) from a camera (150; 155) onboard the autonomous vehicle; determining, by the collision-avoidance system (100; 250), one or more first regions of the image data in which the autonomous vehicle can traverse without colliding or impacting one or more objects within an environment of the autonomous vehicle and one or more second regions (620; 630; 640) of the image data in which the autonomous vehicle cannot traverse without colliding or impacting the one or more objects; determining, by the collision-avoidance system (100; 250), that the autonomous vehicle is likely to travel into one of the second regions based at least in part on autonomous vehicle data indicative of a speed of the autonomous vehicle and a trajectory of the autonomous vehicle determined by an autonomous vehicle control system of the autonomous vehicle; and in response to determining that the autonomous vehicle is likely to travel into one of the second regions, generating, by the collision-avoidance system (100; 250), a collision-avoidance signal, the collision-avoidance signal being associated with an action that avoids a collision or minimizes the impact of the collision of the autonomous vehicle associated with the second regions of the image data, wherein the collision-avoidance system (100; 250) is configured to generate the collision-avoidance signal independently of the autonomous vehicle control system that controls the vehicle , the autonomous vehicle control system being configured to (i) receive sensor input from multiple sensors (135; 140; 145; 150) including the camera , and (ii) generate, based on the sensor input, vehicle control signals , wherein the collision-avoidance signal overrides at least one of the vehicle control signals generated by the autonomous vehicle control system. receiving, by the collision-avoidance system (100; 250), image data (151; 156; 600) from a camera (150; 155) onboard the autonomous vehicle; determining, by the collision-avoidance system (100; 250), one or more first regions of the image data in which the autonomous vehicle can traverse without colliding or impacting one or more objects within an environment of the autonomous vehicle and one or more second regions (620; 630; 640) of the image data in which the autonomous vehicle cannot traverse without colliding or impacting the one or more objects; determining, by the collision-avoidance system (100; 250), that the autonomous vehicle is likely to travel into one of the second regions based at least in part on autonomous vehicle data indicative of a speed of the autonomous vehicle and a trajectory of the autonomous vehicle determined by an autonomous vehicle control system of the autonomous vehicle; and in response to determining that the autonomous vehicle is likely to travel into one of the second regions, generating, by the collision-avoidance system (100; 250), a collision-avoidance signal, the collision-avoidance signal being associated with an action that avoids a collision or minimizes the impact of the collision of the autonomous vehicle associated with the second regions of the image data, wherein the collision-avoidance system (100; 250) is configured to generate the collision-avoidance signal independently of the autonomous vehicle control system that controls the vehicle , the autonomous vehicle control system being configured to (i) receive sensor input from multiple sensors (135; 140; 145; 150) including the camera , and (ii) generate, based on the sensor input, vehicle control signals , wherein the collision-avoidance signal overrides at least one of the vehicle control signals generated by the autonomous vehicle control system. <EOS>