Abstract: The present disclosure describes a technology for contactless cardiopulmonary system monitoring, and more specifically, to the embodiment of exemplary system and method for detecting torso movements and estimating respiratory and heart rates. This invention leverages a depth sensor-equipped camera system to determine the human's anatomical landmarks. The estimated coordinates guide an FMCW radar to enhance the signal quality in the direction of the subject through a beam-steering technique, and extract the movements corresponding to the cardiopulmonary system. The movements are used to estimate respiratory and heart rates in a processing unit.