We propose a method for localizing furniture on caster and wheelchair using accelerometers and a floor sensor. The floor sensor measures positions of objects on the floor using laser range finder. However, it is difficult to specify each object since the floor sensor acquire only outline of the object. The accelerometer is attached to the moving furniture and integrated with the floor sensor for localizing and specifying it. In this paper, we extend our previous system for localizing multiple objects and verify effectiveness for a robot working in an everyday environment.