This work analyzes a new method for object recognition in complex scenes combining vision-based techniques applied to the 3-D data obtained using range sensors and object identification coming from radio frequency tags (radio frequency identification (RFID) technology). Three-dimensional vision-based algorithms for object recognition have many restrictions in practical applications, i.e., uncertainty, incapability for real-time tasks, etc., but they work well for pose determination once the object is recognized. On the other hand, RFID technology allows us to detect the presence of specific objects in a scene, but it cannot provide their localization, at least not with the accuracy required in applications such as ours. In this paper, we present a new and powerful recognition method obtained by fusing both techniques. The phases of the method are described, and abundant experimentation results are included. An in-depth performance analysis has been carried out to demonstrate the recognition improvements achieved by the algorithm when RFID assistance is considered. It helps to confirm the robustness of this fusion approach and prove its effectiveness. A final discussion is included, concerning what should be the most adequate size of the object database for optimal algorithm exploitation.