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The multi-input-multi-output (MIMO) orthogonal frequency division multiplexing (OFDM) system is attractive for its high channel capacities and robustness to multipath fading in wireless communications. Channel estimation and data detection are investigated for MIMO-OFDM systems over time- and frequency-selective (doubly selective) channels. Based on the complex exponential basis expansion channel model, a pilot embedded channel estimation scheme with low computational complexity and high data rate efficiency is proposed. An iterative edition exploiting recovered data to enhance the performance is also presented.