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Internet of Things (IoT) aims to create a world that enables the interconnection and integration of things in physical world and cyber space. With the involvement of a great number of wireless sensor devices, IoT generates a diversity of datasets that are massive, multi-sourcing, heterogeneous, and sparse. By taking advantage of these data to further improve IoT services and offer intelligent services, data fusion is always employed first to reduce the size and dimension of data, optimize the amount of data traffic and extract useful information from raw data. Although there exist some surveys on IoT data fusion, the literature still lacks comprehensive insight and discussion on it with regard to different IoT application domains by paying special attention to security and privacy. In this paper, we investigate the properties of IoT data, propose a number of IoT data fusion requirements including the ones about security and …