A device comprising circuitry configured to: obtain radar signal measurements simultaneously acquired by two or more radar sensors having overlapping fields of view, derive range information of one or more potential targets from samples of radar signal measurements of said two or more radar sensors acquired at the same time or during the same time interval, the range information of a single sample representing a ring segment of potential positions of a potential target at a particular range from the respective radar sensor in its field of view, determine intersection points of ring segments of the derived range information, determine a region of the scene having one of the highest densities of intersection points, select a ring segment per sensor that goes through the selected region, and determine the most likely target position of the potential target from the derived range information of the selected ring segments.