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The Internet of Things (IoT) is expanding and taking over more and more aspects of our lives. Connecting the environment and people to the Internet means that security threats in this environment are also transferred to them. Ensuring a sufficiently high level of security in IoT infrastructures is difficult due to the limited resources and heterogeneity of this environment. In this paper I have addressed some of the basic security services like authentication and authorization, in an attempt to identify those features that are essential for deployment in IoT infrastructures. Thus, I have classified authentication methods according to the credentials, highlighting those that are suitable to be used by IoT devices. I have analyzed the existing authorization methods and identified the coverage of some properties that need to be fulfilled for widespread use in IoT environments. Finally, I identified types of identity management systems according to the degree of centralization and the technologies used. Such a comprehensive analysis of existing access and identity management solutions with real-world applicability in IoT environments highlights the advantages and disadvantages of each solution and is a real support for security architects designing IoT networks. [ABSTRACT FROM AUTHOR]