A radar sensor comprising: a plurality of transmit and receive antennas; a transceiver configured to digitize received radar signals to provide a plurality of digital samples; a digital signal processor configured to form a measurement matrix by transforming the plurality of digital samples into a distance/relative velocity matrix for each combination of the transmit and receive antennas; a filter configured to identify samples forming the measurement matrix having a signal to noise ratio higher than a threshold value; and an interface configured to transmit the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples, characterised in that: the measurement matrix is a three dimensional matrix, each dimension of the measurement matrix corresponding to a respective one of distance, velocity and transmit/receive antenna combination, the filter comprises a first filter component configured to identify two dimensional indices of the measurement matrix at which samples having a signal to noise ratio higher than a threshold value are located, the filter is configured to carry out object detection and the output of the first filter component comprises multiple detections corresponding to a same correlation peak of the measurement samples, and a second filter component is configured to identify from the multiple detections, a single detection at the same correlation peak and the interface is configured to transfer at least the single detection to the host processor, wherein the second filter component is further configured to carry out fine estimation in at least one of distance, velocity and angle of arrival in the azimuth and elevation based upon the measurement matrix filtered by the first filter component, and to provide additional information regarding the fine estimation to the host processor. a plurality of transmit and receive antennas; a transceiver configured to digitize received radar signals to provide a plurality of digital samples; a digital signal processor configured to form a measurement matrix by transforming the plurality of digital samples into a distance/relative velocity matrix for each combination of the transmit and receive antennas; a filter configured to identify samples forming the measurement matrix having a signal to noise ratio higher than a threshold value; and an interface configured to transmit the identified samples and their location in the measurement matrix to a remote host processor configured to further carry out direction of arrival processing on the identified samples, the measurement matrix is a three dimensional matrix, each dimension of the measurement matrix corresponding to a respective one of distance, velocity and transmit/receive antenna combination, the filter comprises a first filter component configured to identify two dimensional indices of the measurement matrix at which samples having a signal to noise ratio higher than a threshold value are located, the filter is configured to carry out object detection and the output of the first filter component comprises multiple detections corresponding to a same correlation peak of the measurement samples, and a second filter component is configured to identify from the multiple detections, a single detection at the same correlation peak and the interface is configured to transfer at least the single detection to the host processor, wherein the second filter component is further configured to carry out fine estimation in at least one of distance, velocity and angle of arrival in the azimuth and elevation based upon the measurement matrix filtered by the first filter component, and to provide additional information regarding the fine estimation to the host processor.