a memory; and

a processor that executes instructions out of the memory to:

access received radar sensor data associated with the current scene,

generate enriched data frame data of the current scene from the received radar sensor data,

accessing tracking data associated with a set of tracked objects,

combine the tracking data associated with the set of tracked objects with the enriched data frame data of the current scene to create a combined dataset, and provide the combined dataset for further processing,

identify that a pattern associated with a set of data points of the enriched data frame data is inconsistent with patterns associated with previously observed objects, and

assign a quality metric to the set of data points associated with the pattern based on the pattern being inconsistent with the patterns associated with the previously observed objects.