A method and apparatus are disclosed that apply multiuser detection (MUD) analysis to an aggregated RF response from a plurality of simultaneously queried RFID tags, so as to distinguish the individual tag responses. The claimed method thereby significantly reduces RFID detection latency when multiple tags are simultaneously queried. Some embodiments transmit carrier waves at more than one frequency, such as a plurality of equally-spaced frequencies, so as to enhance the MUD analysis by incorporating a multi-frequency dimension. Other embodiments incorporate additional spatial dimensions by deploying multiple RF detection antennae at separated locations. The number of colliding tag responses must be estimated before MUD analysis can be applied. In some embodiments other signal parameters must be estimated, such as signal bias and an impulse function for each responding tag that characterizes alterations of the RF signal while in transit due to propagation distance, passage through intervening objects, and reflections.