A novel millimeter-wave planar leaky-wave antenna is described which consists of a dielectric slab loaded by metallic periodic strips. Several new techniques are discussed, such as an air-gapped dielectric waveguide to reduce conductor loss of the ground plane, a canceling array to suppress the reflections in the waveguide due to the metallic strips, a compact feed, and a simple polarizer. By applying these new techniques, we achieved an excellent antenna efficiency, exceeding 70% at 76 GHz band for both vertical and 45-degree inclined linear polarizations.