In radio channel measurements and modeling, directional scanning via highly directive antennas is the most popular method to obtain angular channel characteristics to develop and evaluate advanced wireless systems for high frequency band use. However, it is often insufficient for ray-/cluster-level characterizations because the angular resolution of the measured data is limited by the angular sampling interval over a given scanning angle range and antenna half power beamwidth. This study proposes the sub-grid CLEAN algorithm, a novel technique for high-resolution multipath component (MPC) extraction from the multi-dimensional power image, so called double-directional angular delay power spectrum. This technique can successfully extract the MPCs by using the multi-dimensional power image. Simulation and measurements showed that the proposed technique could extract MPCs for ray-/cluster-level characterizations and channel modeling. Further, applying the proposed method to the data captured at 58.5GHz in an atrium entrance hall environment which is an indoor hotspot access scenario in the fifth generation mobile system, the multipath clusters and corresponding scattering processes were identified.