A method for adaptively filtering out a representation of an object from a radar frame captured by a radar device, the method comprising: obtaining a maximum signal strength at zero velocity in a range bin comprising a detection corresponding to the object in range Doppler representations of a set of radar frames captured by the radar device during a time period preceding the radar frame, which time period comprises at least one period of an oscillatory movement of the radar device in relation to stationary objects in a scene monitored by the radar device; obtaining a motion vector representing a determined magnitude and direction of motion of the radar device due to the oscillatory movement of the radar device; receiving the radar frame captured by the radar device having the obtained magnitude and direction of motion; producing a range Doppler representation of the radar frame; determining a direction vector representing a direction from the radar device to the object; determining a radial relative velocity between the object and the radar device based on the obtained motion vector and the determined direction vector; for the range bin in the range Doppler representation comprising the detection corresponding to the object, setting an interval around the determined radial relative velocity of the object based on the determined radial relative velocity and the determined maximum signal strength; on condition that the detection corresponding to the object is located within the set interval, filtering out a representation of the object from the radar frame; and on condition that the detection corresponding to the object is located outside the set interval, refraining from filtering out the representation of the object from the radar frame. obtaining a maximum signal strength at zero velocity in a range bin comprising a detection corresponding to the object in range Doppler representations of a set of radar frames captured by the radar device during a time period preceding the radar frame, which time period comprises at least one period of an oscillatory movement of the radar device in relation to stationary objects in a scene monitored by the radar device; obtaining a motion vector representing a determined magnitude and direction of motion of the radar device due to the oscillatory movement of the radar device; receiving the radar frame captured by the radar device having the obtained magnitude and direction of motion; producing a range Doppler representation of the radar frame; determining a direction vector representing a direction from the radar device to the object; determining a radial relative velocity between the object and the radar device based on the obtained motion vector and the determined direction vector; for the range bin in the range Doppler representation comprising the detection corresponding to the object, setting an interval around the determined radial relative velocity of the object based on the determined radial relative velocity and the determined maximum signal strength; on condition that the detection corresponding to the object is located within the set interval, filtering out a representation of the object from the radar frame; and on condition that the detection corresponding to the object is located outside the set interval, refraining from filtering out the representation of the object from the radar frame. <EOS>