IWR1443: mmWave Accuracy and Resolution

While presenting the "mmWave Sensors in Material Handling" end equipment overview, a question came up about how the range accuracy is smaller than the range resolution, and the same for velocity. How is this accuracy being calculated? The resolution numbers make sense, but I could not find anything about the accuracy numbers in any of the technical documents or on E2E. Do multiple scans average their values to attain this accuracy? If so, how many scans does it require to gain the accuracy highlighted in the presentation (2 cm for range, 1 cm/sec for velocity). Otherwise, is the mmWave IWR1443 this accurate on the first scan? Thanjk you for your help.