Title: SAFARI: Roadmap to Detecting Planets with Direct Imaging Radial velocity measurements are powerful for detecting planets to bright stars, but are unable to constrain further than a minimum mass for the planets with their unknown inclinations. Direct imaging, allows us to constrain a possible planet's inclination, so we can obtain its dynamical mass and period, useful for constraining evolutionary models. By searching for targets with long-period radial velocity trends, we are able to search for a known but unseen companion. We will present our program for following up old metal-rich and giant stars with observed long period radial velocity trends with high- contrast direct imaging on SPHERE, MagAO, and SOAR. This project has shown to be successful for the detection of low-mass stars with non-detections representing possible planetary-mass companions. We will also show our methods for obtaining the highest possible contrast performance close to the primary star for extreme Adaptive Optics instruments, which will be crucial for directly detecting faint low-mass planets around old stars. This will also be crucial for future instrumentation on the E-ELT and WFIRST, when these planetary detections will be achievable.