Aspects of the disclosure are directed to dual processing. Accordingly disclosed are, an apparatus and a method for dual processing for stationary objects and moving objects including generating a first set of range/Doppler images and a second set of range/Doppler images from a radar system, wherein the first set of range/Doppler images is processed over a first processing time and the second set of range/Doppler images is processed over a second processing time; using a first clustering algorithm to generate a first set of range/Doppler/angle object detections based on the first set of range/Doppler images; using a second clustering algorithm to generate a second set of range/Doppler/angle object detections based on the second set of range/Doppler images; and generating a set of range/Doppler/angle object tracks for stationary and moving objects from the first set of range/Doppler/angle object detections and the second set of range/Doppler/angle object detections.