Disclosed herein are systems, methods, and machine readable media that enable object localization with an RFID infrastructure. Localization is performed by modeling the distance-decaying behavior of received signal strength. Selection of optimally performing tag types and the use of uniformly sensitive tags of those optimal tag types further enhances localization accuracy. When these components are combined, RFID becomes a feasible way to locate moving and stationary objects in a 3D environment that includes other objects, as well as noise and signal pollution.