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Traffic monitoring in urban transportation systems can be carried out based on vehicular sensor networks. Probe vehicles (PVs), such as taxis and buses, and floating cars (FCs), such as patrol cars for surveillance, can act as mobile sensors for sensing the urban traffic and send the reports to a traffic-monitoring center (TMC) for traffic estimation. In the TMC, sensing reports are aggregated to form a traffic matrix, which is used to extract traffic information. Since the sensing vehicles cannot cover all the roads all the time, the TMC needs to estimate the unsampled data in the traffic matrix. As this matrix can be approximated to be of low rank, matrix completion (MC) is an effective method to estimate the unsampled data. However, our previous analysis on the real traces of taxis in Shanghai reveals that MC methods do not work well due to the uneven samples of PVs, which is common in urban traffic. To exploit the intrinsic …