In this work, we consider direction-of-arrival (DoA) estimation in the presence of extreme noise using Deep Learning (DL). In particular, we introduce a Convolutional Neural Network (CNN) that is trained from mutli-channel data of the true array manifold matrix and is able to predict angular directions using the sample covariance estimate. We model the problem as a multi-label classification task and train a CNN in the low-SNR regime to predict DoAs across all SNRs. The proposed architecture demonstrates enhanced robustness in the presence of noise, and resilience to a small number of snapshots. Moreover, it is able to resolve angles within the grid resolution. Experimental results demonstrate significant performance gains in the low-SNR regime compared to state-of-the-art methods and without the requirement of any parameter tuning. We relax the assumption that the number of sources is known a priori and present a training method, where the CNN learns to infer the number of sources jointly with the DoAs. Simulation results demonstrate that the proposed CNN can accurately estimate off-grid angles in low SNR, while at the same time the number of sources is successfully inferred for a sufficient number of snapshots. Our robust solution can be applied in several fields, ranging from wireless array sensors to acoustic microphones or sonars.
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