This paper proposes a method of pose (position and orientation) estimation of objects using multiple ID devices attached to each object for autonomous robots. The object pose is estimated from geometrical relation between poses of the devices attached to the object and the reading poses of the reader. It is required the poses of at least two ID devices in different orientations. We propose a method of precise localization of the ID device even when the ID reader has the volume of communication area. We show the feasibility of our proposed method through the pose estimation experiment.
