  This paper is about localising a vehicle in an overhead image using FMCW
radar mounted on a ground vehicle. FMCW radar offers extraordinary promise and
efficacy for vehicle localisation. It is impervious to all weather types and
lighting conditions. However the complexity of the interactions between
millimetre radar wave and the physical environment makes it a challenging
domain. Infrastructure-free large-scale radar-based localisation is in its
infancy. Typically here a map is built and suitable techniques, compatible with
the nature of sensor, are brought to bear. In this work we eschew the need for
a radar-based map; instead we simply use an overhead image -- a resource
readily available everywhere. This paper introduces a method that not only
naturally deals with the complexity of the signal type but does so in the
context of cross modal processing.
