Internet of Things (IoT) is an emerging technology that has the promising power to change our future. Due to the market pressure, IoT systems may be released without sufficient testing. However, it is no longer acceptable to release IoT systems to the market without assuring the quality. As in the case of new technologies, the quality assurance process is a challenging task. This paper shows the results of the first comprehensive and systematic mapping study to structure and categories the research evidence in the literature starting in 2009 when the early publication of IoT papers for IoT quality assurance appeared. The conducted research is based on the most recent guidelines on how to perform systematic mapping studies. A set of research questions is defined carefully regarding the quality aspects of the IoT. Based on these questions, a large number of evidence and research papers is considered in the study (478 papers). We have extracted and analyzed different levels of information from those considered papers. Also, we have classified the topics addressed in those papers into categories based on the quality aspects. The study results carry out different areas that require more work and investigation in the context of IoT quality assurance. The results of the study can help in a further understanding of the research gaps. Moreover, the results show a roadmap for future research directions.