Angle of Departure (AOD) and Delay of Arrival (DOA) information is added to beamforming techniques to provide improved and more robust estimates of Angle of Arrival (AOA) and localization. A joint AOA, AOD and DOA algorithm based on the Capon Beamformer is proposed to reduce complexity and computation time compared to subspace-based methods. The proposed approach works even if the number of multipaths exceeds the number of antenna elements. Simulation results are provided to assess the improvements in channel estimation for a multiple antenna array