A communications transceiver system that employs self-interference mitigation techniques can detect static objects by using techniques that introduce angular or Doppler diversity. This can include moving Tx and Rx antennas and/or performing beam sweeping. When processing RF sensing data from reflected RF signals, self-interference mitigation techniques can be used and compensation can be made for the movement and/or beam sweeping to allow for both self-interference mitigation and detection of static objects.