An apparatus for detecting objects in a detection area near a wireless power transfer system, the apparatus comprising: a plurality of radar transceivers , each transceiver configured for transmitting and receiving radar signals; and at least one processor configured to: receive radar data from the plurality of radar transceivers, compare responses in the received radar data from each of the plurality of radar transceivers, determine a presence of a vehicle at a first distance from the plurality of radar transceivers based at least in part on a correlation of the responses in the received radar data from each of the radar transceivers, wherein the presence of a vehicle is determined by detecting a radar response at each or a majority of the radar transceivers indicative of an object located at substantially the same first distance from each of the radar transceivers, wherein the first distance corresponds to an underbody height of the vehicle, and when further detecting objects in the detection area, filter out portions of the received radar data corresponding to movement within a predetermined range of distances from the plurality of radar transceivers, wherein the predetermined range of distances is a range of distances around and including the determined underbody height of the vehicle. a plurality of radar transceivers , each transceiver configured for transmitting and receiving radar signals; and at least one processor configured to: receive radar data from the plurality of radar transceivers, compare responses in the received radar data from each of the plurality of radar transceivers, determine a presence of a vehicle at a first distance from the plurality of radar transceivers based at least in part on a correlation of the responses in the received radar data from each of the radar transceivers, wherein the presence of a vehicle is determined by detecting a radar response at each or a majority of the radar transceivers indicative of an object located at substantially the same first distance from each of the radar transceivers, wherein the first distance corresponds to an underbody height of the vehicle, and when further detecting objects in the detection area, filter out portions of the received radar data corresponding to movement within a predetermined range of distances from the plurality of radar transceivers, wherein the predetermined range of distances is a range of distances around and including the determined underbody height of the vehicle. receive radar data from the plurality of radar transceivers, compare responses in the received radar data from each of the plurality of radar transceivers, determine a presence of a vehicle at a first distance from the plurality of radar transceivers based at least in part on a correlation of the responses in the received radar data from each of the radar transceivers, wherein the presence of a vehicle is determined by detecting a radar response at each or a majority of the radar transceivers indicative of an object located at substantially the same first distance from each of the radar transceivers, wherein the first distance corresponds to an underbody height of the vehicle, and when further detecting objects in the detection area, filter out portions of the received radar data corresponding to movement within a predetermined range of distances from the plurality of radar transceivers, wherein the predetermined range of distances is a range of distances around and including the determined underbody height of the vehicle. <EOS>