There are 4 sensors. One before each catalytic converter and one on each exhaust header.
Do not use universal sensors or cheap-o's as there have been many on here who have replaced sensors with these and still have codes being triggered. I seen references to NTK brand working OK and Denso if you do not want to purchase more expensive Infiniti direct parts. I have seen people have problems with Bosch O2's so I would avoid those. Also, don't mix-match brands as all sensors read differently (slower/faster) and the ECU could read one more rich/lean than the other (from what I have seen).