In an embodiment, a method for tracking human targets includes: receiving radar signals using a radar sensor; generating a range-Doppler map based on the received radar signals; detecting a human target based on the range-Doppler map, where detecting the human target includes determining a range and a bounding box dimension of a bounding box bounding the detected human target, the bounding box at least partially surrounding the detected human target; and when the determined range is inside an expected region associated to a track, adding to the track a new detection point including the determined range and bounding box dimension, where the expected region is determined based on bounding box dimensions of detection points of the track.