The Internet of Things is currently getting significant interest from the scientific community. Academia and industry are both focused on moving ahead in attempts to enhance usability, maintainability, and security through standardization and development of best practices. We focus on security because of its impact as one of the most limiting factors to wider Internet of Things adoption. Numerous research areas exist in the security domain, ranging from cryptography to network security to identity management. This paper provides a survey of existing research applicable to the Internet of Things environment at the application layer in the areas of identity management, authentication, and authorization. We survey and analyze more than 200 articles, categorize them, and present current trends in the Internet of Things security domain.