A computer-implemented method of perceiving structure in a radar point cloud comprises: generating a discretised image representation of the radar point cloud having (i) an occupancy channel indicating whether or not each pixel of the discretised image representation corresponds to a point in the radar point cloud and (ii) a Doppler channel containing, for each occupied pixel, a Doppler velocity of the corresponding point in the radar point cloud; and inputting the discretised image representation to a machine learning (ML) perception component, which has been trained extract information about structure exhibited in the radar point cloud from the occupancy and Doppler channels.