The Internet of Things (IoT) integrates billions of self-organized and heterogeneous smart nodes that communicate with each other without human intervention. In recent years, IoT based systems have been used in improving the experience in many applications including healthcare, agriculture, supply chain, education, transportation and traffic monitoring, utility services etc. However, node heterogeneity raised security concern which is one of the most complicated issues on the IoT. Implementing security measures, including encryption, access control, and authentication for the IoT devices are ineffective in achieving security. In this paper, we identified various types of IoT threats and shallow (such as decision tree (DT), random forest (RF), support vector machine (SVM)) as well as deep machine learning (deep neural network (DNN), deep belief network (DBN), long short-term memory (LSTM), stacked LSTM, bidirectional LSTM (Bi-LSTM)) based intrusion detection systems (IDS) in the IoT environment have been discussed. The performance of these models has been evaluated using five benchmark datasets such as NSL-KDD, IoTDevNet, DS2OS, IoTID20, and IoT Botnet dataset. The various performance metrics such as Accuracy, Precision, Recall, F1-score were used to evaluate the performance of shallow/deep machine learning based IDS. It has been found that deep machine learning IDS outperforms shallow machine learning in detecting IoT attacks.

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