The disclosure includes a system and method for spatial information for a heads-up display. The system includes a processor and a memory storing instructions that, when executed, cause the system to: receive sensor data about an entity, assign the entity to a category, estimate a danger index for the entity based on vehicle data, category data, and a position of the entity, generate entity data that includes the danger index, identify a graphic that is a representation of the entity based on the entity data, determine a display modality for the graphic based on the danger index, and position the graphic to correspond to a user's eye frame.
GENERATING SPATIAL INFORMATION FOR A HEADS-UP DISPLAY