Roughly like in this paper https://www.semanticscholar.org/paper/RadarScenes:-A-Real-World-Radar-Point-Cloud-Data-Schumann-Hahn/5de8507ec6e986da6a6c662e869fc725

Roughly like in this paper https://www.semanticscholar.org/paper/RadarScenes:-A-Real-World-Radar-Point-Cloud-Data-Schumann-Hahn/5de8507ec6e986da6a6c662e869fc725ed1104cf https://www.semanticscholar.org/paper/RadarScenes:-A-Real-Wo...