The invention relates to systems and methods for collision detection. A system comprises a processor configured to receive data from at least one sensor installed on an excavator relating to the area around the excavator, identify a plurality of planes based on the data and determine if the plurality of planes are positioned in a predetermined configuration associated with a haul truck, to identify whether the plurality of planes shows the haul truck or not. The processor is further configured to receive current position and direction of travel or movement of a shovel of the excavator to identify possible collisions between the shovel and the identified haul truck based on the plurality of planes, the current position and the current direction of the movement, without receiving any information from the haul truck. If the collisions are possible, the processor is configured to warn an operator of the excavator and optionally increase the movement of the shovel.