A method of generating an alignment matrix for a camera-radar system includes: receiving radar data originated by a radar subsystem and representative of an area of interest within a field of view for the radar subsystem; receiving image data originated by a camera subsystem and representative of the area of interest within a field of view for the camera subsystem; processing the radar data to detect features within the area of interest and to determine a reflected radar point with three dimensions relating to a camera-radar system; processing the image data to detect features within the area of interest and to determine a centroid with two dimensions relating to the camera-radar system; and computing an alignment matrix for radar and image data from the camera-radar system based on a functional relationship between the three dimensions for the reflected radar point and the two dimensions for the centroid.