Cognitive radio is widely expected to be the next Big Bang in wireless communications. Spectrum sensing, that is, detecting the presence of the primary users in a licensed spectrum, is a fundamental problem for cognitive radio. As a result, spectrum sensing has reborn as a very active research area in recent years despite its long history. In this paper, spectrum sensing techniques from the optimal likelihood ratio test to energy detection, matched filtering detection, cyclostationary detection, eigenvalue-based sensing, joint space-time sensing, and robust sensing methods are reviewed. Cooperative spectrum sensing with multiple receivers is also discussed. Special attention is paid to sensing methods that need little prior information on the source signal and the propagation channel. Practical challenges such as noise power uncertainty are discussed and possible solutions are provided. Theoretical analysis on the test statistic distribution and threshold setting is also investigated.