Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) systems are often used to map indoor areas and localize mobile systems. LiDAR scan matching performs poorly in environments without rich geometry, such as long hallways or large rooms. To address this limitation, a mm-wave fixed antenna array radar is used as a low-cost aid towards maintaining full pose information during these situations. Localization is performed using a scan matching algorithm that is developed through a correlative method.