This manuscript deals with the Singularity Expansion Method (SEM) applied to antenna characterization. In the first part of this work, three resonant poles extraction methods are presented and compared: the Prony and Matrix Pencil methods in the transient domain and the Cauchy method in the frequency domain. A procedure is defined to optimize the extraction with each method and a robustness study shows that Matrix Pencil method allows obtaining more physical poles with a better accuracy than the two other methods in presence of noise. In a second part, the Matrix Pencil algorithm is applied on radiated and backscattered antenna responses. Extracted resonant poles from both responses are exactly the same. This study validates the possibility to extract poles directly from its backscattered response. The position of resonant poles is analyzed with respect to antenna’s dimension and its load for two different cases. This emphasizes the link between antenna poles and antenna input impedance. Finally, RCS measurements of three antennas validate antenna poles extraction directly from its RCS. This work lays the foundations of antenna characterization using the SEM applied to RCS measurements.