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Massive MIMO is a promising technique for future 5G communications due to its high spectrum and energy efficiency. To realize its potential performance gain, accurate channel estimation is essential. However, due to massive number of antennas at the base station (BS), the pilot overhead required by conventional channel estimation schemes will be unaffordable, especially for frequency division duplex (FDD) massive MIMO. To overcome this problem, we propose a structured compressive sensing (SCS)-based spatio-temporal joint channel estimation scheme to reduce the required pilot overhead, whereby the spatio-temporal common sparsity of delay-domain MIMO channels is leveraged. Particularly, we first propose the nonorthogonal pilots at the BS under the framework of CS theory to reduce the required pilot overhead. Then, an adaptive structured subspace pursuit (ASSP) algorithm at the user is proposed …