Cybersecurity in the Internet of Things (IoT), at its heart, relies on the digital identity concept to build security mechanisms such as authentication and authorization. However, current centralized identity management systems are built around third party identity providers, which raises privacy concerns and presents a single point of failure. In addition, IoT unconventional characteristics such as scalability, heterogeneity and mobility require new identity management systems to operate in distributed and trustless environments. In order to deal with these challenges, we present the Blockchain-based Identity Management System for the Internet of Things. By such, things and people are able to self-manage their identities and authenticate without relying on any third parties.