  In this paper, we study the problem of compressed sensing using binary
measurement matrices and $\ell_1$-norm minimization (basis pursuit) as the
recovery algorithm. We derive new upper and lower bounds on the number of
measurements to achieve robust sparse recovery with binary matrices. We
establish sufficient conditions for a column-regular binary matrix to satisfy
the robust null space property (RNSP) and show that the associated sufficient
conditions % sparsity bounds for robust sparse recovery obtained using the RNSP
are better by a factor of $(3 \sqrt{3})/2 \approx 2.6$ compared to the
sufficient conditions obtained using the restricted isometry property (RIP).
Next we derive universal \textit{lower} bounds on the number of measurements
that any binary matrix needs to have in order to satisfy the weaker sufficient
condition based on the RNSP and show that bipartite graphs of girth six are
optimal. Then we display two classes of binary matrices, namely parity check
matrices of array codes and Euler squares, which have girth six and are nearly
optimal in the sense of almost satisfying the lower bound. In principle,
randomly generated Gaussian measurement matrices are "order-optimal". So we
compare the phase transition behavior of the basis pursuit formulation using
binary array codes and Gaussian matrices and show that (i) there is essentially
no difference between the phase transition boundaries in the two cases and (ii)
the CPU time of basis pursuit with binary matrices is hundreds of times faster
than with Gaussian matrices and the storage requirements are less. Therefore it
is suggested that binary matrices are a viable alternative to Gaussian matrices
for compressed sensing using basis pursuit. \end{abstract}
