The development of the internet of things (IoT), edge computing, mobile internet, and artificial intelligence (AI) has greatly enriched human-centered sensing and computing scenarios. Human-centered sensing and computing regard people as the subject or participant of sense and consciously or unconsciously combine human intelligence in the sensing and computing process, which can thus improve model adaptability and protect humans from the risks of AI. This paper discusses the concept of human-centered sensing and computing and summarizes the corresponding research works and typical applications from different aspects. Then, the paper points out a series of major challenges and research problems and finally proposes prospects for human-centered sensing and computing research on human-machine collaborating ways and ethics.