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Sparse sampling of continuous-time sparse signals is addressed. In particular, it is shown that sampling at the rate of innovation is possible, in some sense applying Occam's razor to the sampling of sparse signals. The noisy case is analyzed and solved, proposing methods reaching the optimal performance given by the Cramer-Rao bounds. Finally, a number of applications have been discussed where sparsity can be taken advantage of. The comprehensive coverage given in this article should lead to further research in sparse sampling, as well as new applications. One main application to use the theory presented in this article is ultra-wide band (UWB) communications.