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Authentication of products and humans is one of the main applications of RFID technology. In this paper, we present a novel cryptographic authentication protocol that is fully secure and it fills the security holes imposed by RFID technology. Our proposed authentication protocol has a significantly lower cost in terms of computation, memory and communication as compared to most of the existing RFID protocols. We compare our protocol with the existing protocols by implementing all these authentication protocols first time on a passive, computation capable RFID tag developed by Intel known as WISP.