I. Introduction
Consider the classical linear forward model , which relates a parameter vector to an observation vector through a linear transformation (henceforth referred to as a dictionary) . This forward model, despite its apparent simplicity, provides a reasonable mathematical approximation of reality in a surprisingly large number of application areas and scientific disciplines [5]–[7]. While the operational significance of this linear (forward) model varies from one application to another, the fundamental purpose of it in all applications stays the same: given knowledge of and , make an inference about . However, before one attempts to solve an inference problem using the linear model, it is important to understand the conditions under which doing so is even feasible. For instance, inferring anything about will be a moot point if the nullspace of were to contain . Thus, a large part of the literature on linear models is devoted to characterizing conditions on and that facilitate reliable inference.