Information Centric Networking (ICN) is an emerging research topic aiming at shifting the Internet from its current host-centric paradigm towards an approach centred around content, which enables the direct retrieval of information objects in a secure, reliable, scalable, and efficient way. The exposure of ICN to scenarios other than static content distribution is a growing research topic, promising to extend the impact of ICN to a broader scale. In this context, particular attention has been given to the application of ICN in Internet of Things (IoT) environments. The current paper, by focusing on local domain IoT scenarios, such as multi-sensory Machine to Machine (M2M) environments, discusses the challenges that ICN, particularly Interest-based solutions, impose to service discovery. This work proposes a service discovery mechanism for such scenarios, relying on an alternative forwarding pipeline for supporting its core operations. The proposed mechanism is validated through a proof-of-concept prototype, developed on top of the Named Data Networking (NDN) ICN architecture, with results showcasing the benefits of our solution for discovering services within a collision domain.