Abstract: A system adaptively filters out a representation of an object from a radar frame captured by a radar device, where a maximum signal strength at zero velocity is obtained in a range bin comprising a detection of the object in range Doppler representations of a set of radar frames captured during a time period before the radar frame. A motion vector is obtained representing a determined magnitude and direction of motion of the radar device at the time when the radar frame was captured. The motion of the radar device is due to an oscillatory movement of the radar device. A range Doppler representation of the radar frame is produced and a direction vector representing a direction from the radar device to the object is determined. A radial relative velocity between the object and the radar device is determined based on the obtained motion vector and the determined direction vector.