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We present SenseWeb, an open and scalable infrastructure for sharing and geocentric exploration of sensor data streams. SenseWeb allows sensor owners to share data streams across multiple applications and users, thus amortizing sensor deployment costs effectively. It also provides mechanisms to transparently index and cache data, to process spatio-temporal queries on real-time and historic data, and to aggregate and present results on a geocentric web interface. In this paper, we present the architecture of SenseWeb, its techniques to enable global sharing of heterogeneous sensors, and its mapbased front-end for spatio-temporal data exploration. We enable interactive geocentric data exploration in the mapbased front-end using techniques for rapidly changing map overlaid visualizations of numerous data streams. We also demonstrate flexibility and scalability of the architecture by evaluating a deployed prototype of SenseWeb, which has been publicly available since March 2008.