Algorithm 1. Radar Echo Map Generation
Input: Radar $R_i$ defined as arrays of intensity of all radar bins Output: Two dimensional intensity Map Q distributed on the bed
	Initialisation:
1:	$x_0{y}_0=(0, 0$)
2:	$x_N{y}_N=(90, 196$)
3:	$maximum detection range=9.87m$
4:	$maximum number of radar bias=1536$
5:	$d=9.87 \ast 100 / 1536$ (Where d is the distance between each radar bin)
6:	$N=int(90/0.643)$
7:	$M=int(196/0.643)$
	LOOP Process:
8:	for $i$ in Radar frames $R_i$ do
9:	for $n$ in $x_0, \dots , x_N$ do
10:	for $m$ in $y_0, \dots , y_M$ do
11:	$\hspace{1em}\hspace{1em}\hspace{1em}D\left[n\right]\left[m\right]=\sqrt{{\left(X_n-x_r\right)}^2}+\sqrt{{\left(y_n-y_r\right)}^2}$
12:	$\hspace{1em}\hspace{1em}\hspace{1em}{b}_{small}=floor\left(D\right[n\left]\right[m]/d)$
13:	$\hspace{1em}\hspace{1em}\hspace{1em}{b}_{large}=ceil\left(D\right[n\left]\right[m]/d)$
14:	$\hspace{1em}\hspace{1em}\hspace{1em}Q\left[n\right]\left[m\right]=Q\left[n\right]\left[m\right]+R_i\left[b_{small}\right]\left(D\right[n\left]\right[m] mod d)/d+R_i\left[b_{large}\right](d-D\left[n\right]\left[m\right]mod d)/d$
15:	end for
16:	end for
17:	end for
18:	$\mathrm{return} Q\left[n\right]\left[m\right]$
d: the distance between each radar bin; N: the number of xbins mapped to short edge of bed; M: the number of ybins mapped to long edge of bed; b: radar bin number.