A mobile device (110, 210) comprising a camera; a display to present images captured with the camera; radar components to generate a plurality of radar signal pulses and to generate distance data based on received return signals; a first plurality of radar antennae (220, 222, 224, 226) to transmit the plurality of radar signal pulses in a rear facing direction of the apparatus and a second plurality of radar antennae (221, 223, 225, 227) to transmit the plurality of radar signal pulses in a front facing direction of the apparatus and to receive the return signals; and a processor to process signals and data, wherein the processor is to: process the return signals received by the first and second plurality of radar antennae to determine a position and orientation of the display with respect to real objects in an environment and to determine a position of a vantage point of a user of the apparatus, and generate an augmented image including rendering a virtual object and superimposing the virtual object on an image including one or more real objects, the rendering of the virtual image being based at least in part on the determined position and orientation of the display and the determined vantage point of the user of the apparatus; wherein processing the return signals includes updating a depth map providing distances of real objects and updating a viewing matrix, the viewing matrix defining a viewing frustum of a user of the apparatus. a camera; a display to present images captured with the camera; radar components to generate a plurality of radar signal pulses and to generate distance data based on received return signals; a first plurality of radar antennae (220, 222, 224, 226) to transmit the plurality of radar signal pulses in a rear facing direction of the apparatus and a second plurality of radar antennae (221, 223, 225, 227) to transmit the plurality of radar signal pulses in a front facing direction of the apparatus and to receive the return signals; and a processor to process signals and data, wherein the processor is to: process the return signals received by the first and second plurality of radar antennae to determine a position and orientation of the display with respect to real objects in an environment and to determine a position of a vantage point of a user of the apparatus, and generate an augmented image including rendering a virtual object and superimposing the virtual object on an image including one or more real objects, the rendering of the virtual image being based at least in part on the determined position and orientation of the display and the determined vantage point of the user of the apparatus; wherein processing the return signals includes updating a depth map providing distances of real objects and updating a viewing matrix, the viewing matrix defining a viewing frustum of a user of the apparatus. process the return signals received by the first and second plurality of radar antennae to determine a position and orientation of the display with respect to real objects in an environment and to determine a position of a vantage point of a user of the apparatus, and generate an augmented image including rendering a virtual object and superimposing the virtual object on an image including one or more real objects, the rendering of the virtual image being based at least in part on the determined position and orientation of the display and the determined vantage point of the user of the apparatus; wherein processing the return signals includes updating a depth map providing distances of real objects and updating a viewing matrix, the viewing matrix defining a viewing frustum of a user of the apparatus.