Radar detections from given dataset files

Hi, I am trying to use Radar detections from the respective files. I am trying to find detections which fall under the corresponding annotation’s bounding boxes. However, the deviation of x,y,z values from the bounding boxes are just too high (5 - 12 mt). My goal is to use those detections for tracking algorithm. It works fine with Lidar. But with Radar you hardly get any point within strict bounding box measurement. Even allowing box size tolerance of 5 mt. does not give handful of points. Both boxes and raw detections are in sensor coordinate. Is this something expected? Can you suggest some other way to identify detections with bounding boxes for a annotation?