Detection points may be first observed over multiple radar frames. The observed detection points, which form the tracklets, can be used to form a segmentation of the present radar frame by associating the tracklats to at least one object-track, which represents at least one object based on at least one feature-parameter. Segmentation results from tracking of detection points over multiple radar frames (viz. utilizing tracking information) which is used for associating detection points to objects (segmentation-by-tracking). A two-level tracking approach can be implemented, in which for a present radar frame, (new) detection points are associated to tracklets, which may be seen as a first level, and then the tracklets are associated to object-tracks, which may be seen as a second level.