An apparatus comprising a processor configured to receive an input dataset of radar signals received at a plurality of antenna elements that are arranged in a first plane; define a matrix of beamsteering vectors each representing an expected response at the antenna elements of the radar signals from the respective target and comprising a function of a first direction of arrival, DoA, angle θ, relative to the plurality of antenna elements, and a second DoA angle Φ, wherein the first DoA angle comprises a function of an elevation angle and the second DoA angle comprises an azimuth angle to the respective target, wherein the azimuth angle lies in a second plane that is arranged perpendicular to the first plane; define an objective function; search for a set of the first and second DoA angles for each of the plurality of targets by the repeated evaluation of the objective function.