identifying, based on multiple frames of signals received by a plurality of receive channels of a radar system, range-Doppler detections corresponding to each receive channel of the plurality of receive channels;

applying a back-projection algorithm to the range-Doppler detections identified for each of the receive channels to determine a set of pixels for each respective receive channel, each pixel in each of the sets of pixels indicative of the range-Doppler detections identified at a position corresponding to that pixel;

deriving, from each set of pixels, initial images related to each receive channel;

applying a de-aliasing filter to the initial images derived from the back-projection algorithm to produce a refined image; and

outputting, to a system for controlling a vehicle, the refined image produced by the de-aliasing filter applied to the initial images derived from the back-projection algorithm.