Abstract: Herewith disclosed a computerized method of volume rendering, a volume rendering tool and a radar imaging system capable of rendering volumetric data. The method of volume rendering comprises obtaining volumetric data represented as a plurality of voxels, sampling the voxels at different resolutions corresponding to the limited number of two-dimensional elements per sample, and compositing the two-dimensional elements in order to calculate values to be assigned to respective pixels for visualization. The compositing comprises generating a data structure associated with the plurality of different-resolution two-dimensional elements and configured to provide a relationship between said plurality and pixels in an image grid, wherein said data structure is configured to simultaneously hold data related to said different-resolution two-dimensional elements.