Channel estimation is of critical importance in millimeter-wave (mmWave) multiple-input multipleoutput (MIMO) systems. Due to the use of large antenna arrays, low-complexity mmWave specific channel estimation algorithms are required. In this paper, an auxiliary beam pair design is proposed to provide high-resolution estimates of the channel's angle-of-departure (AoD) and angle-of-arrival (AoA) for mmWave MIMO systems. By performing an amplitude comparison with respect to each auxiliary beam pair, a set of ratio measures that characterize the channel's AoD and AoA are obtained by the receiver. Either the best ratio measure or the estimated AoD is quantized and fed back to the transmitter via a feedback channel. The proposed technique can be incorporated into control channel design to minimize initial access delay. Though the design principles are derived assuming a high-power regime, evaluation under more realistic assumption shows that by employing the proposed method, good angle estimation performance is achieved under various signal-to-noise ratio levels and channel conditions. were also investigated in [22], [23], though these two papers mainly focused on the hierarchical beam codebook design. Only quantized angle estimation with limited resolution can be achieved via the compressed sensing [13]-[19] and grid-of-beams [21]-[23] based methods. With a small codebook, the resolution of angle estimation becomes low. Many high resolution subspace based angle estimation algorithms such as MUSIC [24], ESPRIT [25] and their variants [26] have been of great research interest to the array processing community for decades. Their applications to massive MIMO or full-dimension MIMO to estimate the two-dimensional angles were extensively investigated in [27]-[31]. For the mmWave frequency band, the MUSIC algorithm was employed for initial user discovery in [32] by exploiting mmWave channels' sparsity via directional beamforming. A relatively large number of snap-shots (samples) are required in the subspace based angle estimation algorithms employed in [27]-[32] to obtain accurate received signal covariance matrix, which in turn, results in high training overhead. Further, it is difficult to directly extend the MUSIC and ESPRIT-typeestimators to mmWave systems with the hybrid architecture. This is because with the hybrid architecture, only a reduced-dimension channel matrix can be accessed through the lens of a limited number of RF chains, which makes the estimation of the full MIMO channel difficult.In this paper, we develop an algorithm for estimating the channel's AoD and AoA through auxiliary beam pair (ABP) design with high accuracy and low training overhead. Pairs of beams were previously employed in monopulse radar systems to improve the estimation accuracy of the direction of arrival [33]- [37]. In amplitude monopulse radar, a sum beam and a difference beam form a pair such that the difference beam steers a null at the boresight angle of the sum beam. By comparing the relative amplitude of the pulse in the pair of tw...