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Generally, object recognition in robotics has used vision, sonar, laser range sensors, etc. In this paper, the authors propose a new sensing technology based on radio frequency identification (RFID) to facilitate the autonomous recognition of objects. This technology uses a novel tag, named the 3-D tag, with which an object can be identified and its orientation together with location can be estimated. This paper presents the method for object recognition by analyzing the characteristics of the 3-D tag, and then validates the 3-D tag through several demonstrations showing its usefulness as an independent sensor for recognizing objects.