A ground-penetrating RADAR-based system can include a transmitter configured to transmit multiple RADAR impulses and a receiver configured to receive a signal comprising return waves generated responsive to the transmitted RADAR impulses. The signal can include a direct wave portion and a reflected wave portion. The system can also include a processing unit configured to analyze the return waves by determining the direct wave portion, fitting the direct wave portion to determine parametric information corresponding to the return waves, determining the reflected wave portion, determining characteristics of the reflected wave portion based on the parametric information, and comparing the determined characteristics against known characteristics.