A multi-objects identification and localization method based on similarity matching of radial velocity estimated by laser and radio frequency identification（ RFID） sensors is proposed. The information acquired by laser range finder is segmented into different clusters

and the radial velocities of moving objects are estimated based on the clustering information of adjacent time

these velocities are matched against the radial velocities computed from the RFID phase difference. Besides

to realize the identification and localization of multiple dynamic objects

this method uses a fixed-time series as"time window "to find the cluster with the highest similarity in each window. The experiment is validated on SCITOS G5 robot. The results show that the identification rate can reach94. 8 % and the localization accuracy can reach 0. 36 m.