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The Internet of Things (IoT) is the ability to provide everyday devices with a way of identification and another way for communication with each other. The spectrum of IoT application domains is very large including smart homes, smart cities, wearables, e-health, etc. Consequently, tens and even hundreds of billions of devices will be connected. Such devices will have smart capabilities to collect, analyze and even make decisions without any human interaction. Security is a supreme requirement in such circumstances, and in particular authentication is of high interest given the damage that could happen from a malicious unauthenticated device in an IoT system. This paper gives a near complete and up-to-date view of the IoT authentication field. It provides a summary of a large range of authentication protocols proposed in the literature. Using a multi-criteria classification previously introduced in our work, it compares and evaluates the proposed authentication protocols, showing their strengths and weaknesses, which constitutes a fundamental first step for researchers and developers addressing this domain.