The increasing bandwidth requirement of new wireless applications has lead to\nstandardization of the millimeter wave spectrum for high-speed wireless\ncommunication. The millimeter wave spectrum is part of 5G and covers\nfrequencies between 30 and 300 GHz corresponding to wavelengths ranging from 10\nto 1 mm. Although millimeter wave is often considered as a communication\nmedium, it has also proved to be an excellent 'sensor', thanks to its narrow\nbeams, operation across a wide bandwidth, and interaction with atmospheric\nconstituents. In this paper, which is to the best of our knowledge the first\nreview that completely covers millimeter wave sensing application pipelines, we\nprovide a comprehensive overview and analysis of different basic application\npipeline building blocks, including hardware, algorithms, analytical models,\nand model evaluation techniques. The review also provides a taxonomy that\nhighlights different millimeter wave sensing application domains. By performing\na thorough analysis, complying with the systematic literature review\nmethodology and reviewing 165 papers, we not only extend previous\ninvestigations focused only on communication aspects of the millimeter wave\ntechnology and using millimeter wave technology for active imaging, but also\nhighlight scientific and technological challenges and trends, and provide a\nfuture perspective for applications of millimeter wave as a sensing technology.\n