An autonomous device comprising: a radar; a processor; and a memory, storing instructions which when executed by the processor cause the processor to: (a) receive raw radar data from the radar using the radar (b) approximate a target peak from the received raw radar data by being smoothed in order to produce smoothed data from which peaks are approximated in order to generate a range profile in which a target location is detected; (c) determine a Doppler speed of the target corresponding to the target peak by a peak gradient process including calculating the Doppler speed through combining graphs of range profiles with frequency shifts peak matching, and performing filtering operations in order to suppress transmit crosstalk, (d) track a translation and rotation relative to a start position for the radar using odometry data to determine a known speed of the radar, (e) determine a direction of arrival for the target peak based on the Doppler speed of the target and the known speed of the radar by a deviation in the Doppler speed from the known speed of the radar being used to determine a magnitude of an angle between a sensor movement vector and a line-of-sight to the detected target; (f) resolve ambiguity of the direction of arrival by changing a direction of movement of the radar being sensitive to targets on both sides of a path of motion and repeating steps (a) to (e); (g) generate a reprojection map based on the direction of arrival and the approximated target peak; and (h) update a map with the reprojection map. a radar; a processor; and a memory, storing instructions which when executed by the processor cause the processor to: (a) receive raw radar data from the radar using the radar (b) approximate a target peak from the received raw radar data by being smoothed in order to produce smoothed data from which peaks are approximated in order to generate a range profile in which a target location is detected; (c) determine a Doppler speed of the target corresponding to the target peak by a peak gradient process including calculating the Doppler speed through combining graphs of range profiles with frequency shifts peak matching, and performing filtering operations in order to suppress transmit crosstalk, (d) track a translation and rotation relative to a start position for the radar using odometry data to determine a known speed of the radar, (e) determine a direction of arrival for the target peak based on the Doppler speed of the target and the known speed of the radar by a deviation in the Doppler speed from the known speed of the radar being used to determine a magnitude of an angle between a sensor movement vector and a line-of-sight to the detected target; (f) resolve ambiguity of the direction of arrival by changing a direction of movement of the radar being sensitive to targets on both sides of a path of motion and repeating steps (a) to (e); (g) generate a reprojection map based on the direction of arrival and the approximated target peak; and (h) update a map with the reprojection map. (a) receive raw radar data from the radar using the radar (b) approximate a target peak from the received raw radar data by being smoothed in order to produce smoothed data from which peaks are approximated in order to generate a range profile in which a target location is detected; (c) determine a Doppler speed of the target corresponding to the target peak by a peak gradient process including calculating the Doppler speed through combining graphs of range profiles with frequency shifts peak matching, and performing filtering operations in order to suppress transmit crosstalk, (d) track a translation and rotation relative to a start position for the radar using odometry data to determine a known speed of the radar, (e) determine a direction of arrival for the target peak based on the Doppler speed of the target and the known speed of the radar by a deviation in the Doppler speed from the known speed of the radar being used to determine a magnitude of an angle between a sensor movement vector and a line-of-sight to the detected target; (f) resolve ambiguity of the direction of arrival by changing a direction of movement of the radar being sensitive to targets on both sides of a path of motion and repeating steps (a) to (e); (g) generate a reprojection map based on the direction of arrival and the approximated target peak; and (h) update a map with the reprojection map.