Abstract: A method includes an operation to collect radar signals reflected from objects in a field of view. A three-dimensional range-angle-velocity cube is formed from the radar signals. The three-dimensional range-angle-velocity cube includes individual bins with radar intensity values characterizing angle and range for a specific velocity. Point-pillar sub-cubes are selected from the three-dimensional range-angle-velocity cube. Each point-pillar sub-cube includes a predefined range surrounding a high energy peak in the range-angle dimensions and an entire range in a velocity vector. The point-pillar sub-cubes are processed to compress, decompress, detect, classify or track objects in the field of view.