Abstract: A computer-implemented method for radar target detection and radar systems includes executing via one or more processors: transmitting a signal from transmit antennas to receive antennas, each transmit antenna configured to alternately transmit at first and second pulse repetition frequencies, each frame of the signal including sub-frames, each sub-frame including pulses from the transmit antennas in a staggered arrangement; performing range compression on the pulses in each frame to generate range cells; performing Doppler processing on each range cell to generate range-Doppler (RD) maps for the transmit antennas; integrating the RD maps to generate an integrated RD map; detecting presence of a target from the integrated RD map; estimating range and velocity of the detected target; estimating direction-of-arrival (DOA) of the detected target; and generating a point cloud of the detected target by computing Cartesian coordinates of the detected target from the range and the DOA of the detected target.