An access-integrated RFID-based asset management (AIRBAM) system is used to acquire and update field data on physical assets located beneath or behind RF-permeable access structures, such as underground valves located beneath plastic valve covers or boxes. Inspection/maintenance personnel using hand-held RFID readers acquire field data from RFID tags located in the access structures prior to physically accessing the assets and write updated field data to the RFID tags after completing the inspection and/or maintenance. Alternately, field data regarding the assets can be stored in a database residing on the mobile RFID readers and can be retrieved and updated based on alpha-numeric identifiers transmitted by the RFID tags.