A method for mapping a static scene using a stationary radar unit operative to transmit radar signals towards a scene, the stationary radar unit comprises a set of receiver antennas configured to detect radar signals from arbitrary directions, and the stationary radar unit is configured to measure target velocity in discrete velocity bins, the method comprising: continuously collecting radar signals over time to detect a static scene using the set of receiver antennas; constructing an occupancy map of the static scene using confirmed detections determined from the collected radar signals, where confirmed detections are detections with radar signal strength exceeding a detection threshold and with velocity falling in a zero velocity bin and detections with radar signal strength exceeding the detection threshold and with a non-zero velocity sufficiently low to cause spill over information in the same bin as detections falling in the zero velocity bin.