Recent Herschel and Planck observations of submillimeter dust emission revealed the omnipresence of filamentary structures in the interstellar medium (ISM). The ubiquity of filaments in quiescent clouds as well as in star-forming regions indicates that the formation of filamentary structures is a natural product of the physics at play in the magnetized turbulent cold ISM. An analysis of more than 270 filaments observed with Herschel in 8 regions of the Gould Belt, shows that interstellar filaments are characterized by a narrow distribution of central width sharply peaked at ~0.1 pc, while they span a wide column density range. Molecular line observations of a sample of these filaments show evidence of an increase in the velocity dispersion of dense filaments with column density, suggesting an evolution in mass per unit length due to accretion of surrounding material onto these star-forming filaments. The analyses of Planck dust polarization observations show that both the mean magnetic field and its fluctuations along the filaments are different from those of their surrounding clouds. This points to a coupling between the matter and the $\vec{B}$-field in the filament formation process. These observational results, derived from dust and gas tracers in total and polarized intensity, set strong constraints on our understanding of the formation and evolution of filaments in the ISM. They provide important clues on the initial conditions of the star formation process along interstellar filaments.