A system for detecting and estimating a property of an object based on radar includes a signal generator configured to generate a code sequence for a plurality of transmitters configured to emit radar signals over a selected time frame, the code sequence including a plurality of codes, each code of the plurality of codes having a different code length, each code repeated in the code sequence according to a repetition frequency, and each transmitter configured to emit a radar signal based on the code sequence. The system also includes a receiver configured to detect return signals from reflections of the emitted radar signal, and a processing device configured to estimate a property of an object based on the detected return signals.