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In this paper, a novel method of obstacle recognition in indoor environment for mobile robot using RFID (Radio Frequency Identification) technology and stereo vision is proposed as it is inexpensive, flexible and easy to use in practical environment. Because information of the obstacles or environment can be written in ID tags, the proposed method can detect the obstacles easily and quickly compared with the other methods. The Radio Frequency is not so stable, so the Bayes rule was introduced to calculate probability where the ID tag exists in order to improve the accuracy of localizing obstacle with the ID tags. Then the stereo camera is started to process the image of ROI where the obstacle exists. The proposed method does not need to process all image and easily gets some information of obstacle such as size, color, thus decreases the processing computation. This paper introduces the architecture of the proposed method and presents some experimental results.