In described examples, a method of operating a frequency modulated continuous wave (FMCW) radar system includes the following steps. A signal is received. A range Fast Fourier Transform (FFT), a Doppler FFT, and an angle FFT are performed on the signal to generate a radar cube. A point cloud is detected corresponding to the radar cube. Multiple objects corresponding to the point cloud are tracked to generate, for respective ones of the tracked objects, a centroid, a boundary, and a track velocity. For respective ones of the tracked object, a micro-Doppler spectrogram and a micro-range spectrogram are generated. The tracked objects are classified based on corresponding micro-Doppler spectrograms and micro-range spectrograms. In some examples, one dimensional feature vectors are extracted from spectrograms and used for training and classification. In some examples, spectrograms are circularly shifted around a track velocity, or a mean or median frequency, prior to feature extraction.