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This paper presents a realistic feasibility of radio frequency identification (RFID) based self-localization of objects in real environments using simple infrastructure composed of chipless tags. These tags are designed as arrays of dielectric resonators (DR) in order to overcome the range limitations of the traditional chipless tags, where the DR array structure of the tags boosts the radar cross section (RCS) and, consequentially, extends the range coverage. Furthermore, an efficient algorithm for tag detection is proposed considering the environmental and hardware impairments that alter the backscattered signal from the tag. In this system, the reader interrogates the reference nodes, i.e. chipless tags, by a frequency-sweep RF signal, and the backscattered signals from the tags are captured and analyzed at the reader for detection, ranging and location estimation. A testbed is implemented with fabricated chipless RFID tags in order to evaluate the validity and accuracy of the proposed self-localization system. Experimental measurements based simulations are conducted in several scenarios in order to evaluate the proposed system. Moreover, an object (the reader) is moved to several locations in an interrogation area of $2.5\times 1.2$ m, and, afterwards, its location is estimated. The averaged measured location error achieved based on the proposed system is approximately 5 cm with a variation of 0.9 cm as a minimum observed error and 7 cm as a maximum error. [ABSTRACT FROM AUTHOR]