  Herein, an atomic norm based method for accurately estimating the location
and orientation of a target from millimeter-wave multi-input-multi-output
(MIMO) orthogonal frequency-division multiplexing (OFDM) signals is presented.
A novel virtual channel matrix is introduced and an algorithm to extract
localization-relevant channel parameters from its atomic norm decomposition is
designed. Then, based on the extended invariance principle, a weighted least
squares problem is proposed to accurately recover the location and orientation
using both line-of-sight and non-line-of-sight channel information. Numerical
results highlight performance improvements over a prior method and the
resultant performance nearly achieves the Cramer-Rao lower bound.
