RA	Range–azimuth
RD	Range-Doppler
RAD	Range–azimuth–Doppler
RCS	Radar cross-section
FoV	Field of view
BEV	Bird’s eye view
FMCW	Frequency-modulated continuous-wave
IF	Intermediate frequency
TDM	Time-division multiplexing
DDM	Doppler-division multiplexing
SNR	Signal-to-noise ratio
VRU	Vulnerable road user
ICR	Instantaneous centre of rotation
OGM	Occupancy grid mapping
FCN	Fully convolutional network
ROI	Region of interest
NMS	Non-maximum suppression
ODD	Operational design domain
RFS	Random finite set