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Studies of individual quantum systems, which have led to considerable progress in our understanding of quantum physics, have traditionally been associated with atomic gases. In the last decades however, the emphasis has shifted towards solid-state systems, which are much more practical for applications. In particular, a new field has recently emerged that is concerned with the study of quantum systems based on single spins localized near point defects in crystalline solids. One such system is the nitrogen-vacancy (NV) defect in diamond. Initially used as an experimental breadboard for testing concepts of quantum physics and quantum computation, the NV defect was soon proposed as a sensitive magnetometer, capable of detecting minute magnetic fields, down to ultimate level of single spins. This atomic-sized magnetometer can be used as a standalone sensor, or integrated into an imaging system providing spatial resolution down to the atomic scale. Diamond-based instruments thus offer new pathways to probe the magnetism of matter from the mesoscale down to the nanoscale. This book chapter gives an overview of the field of diamond-based magnetic sensing and imaging, with an emphasis on already demonstrated applications of this technology. The chapter is divided into three main sections. In Section 2, the underlying physics and methods of diamond-based magnetometry are described. Section 3 is devoted to various experimental implementations that employ this new class of sensors for magnetic sensing and imaging. Finally, some recent applications are presented in Section 4.