A target detection system and a method of performing radar target detection are described. The system includes a radar system to obtain radar echoes from a target with multiple point reflectors. The system also includes a processor to obtain a cluster of multi-dimensional point spread function from the radar echoes, each multi-dimensional point spread function being associated with a reflection from one of the multiple point reflectors, and also to perform object detection based on three or more dimensions of each of the multi-dimensional point spread functions of the cluster.