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RFID technology as an enabler of Internet of Things (IoT) is extensively utilized for object localization. Existing RFID-based object localization techniques follow a central and coordinated approach. Indeed, none is designed to leverage RFID crowdsourcing for the purpose of object localization. In this paper, we propose a system for localizing mobile RFID tags using heterogeneous, distributed and dynamic mobile RFID readers. We introduce the concept of Time-Shifted Multilateration (TSM) to enhance location estimation accuracy of mobile tags when sufficient synchronous detection information is not available. We validate the proposed system and technique through extensive simulations using ns-3 and empirical experiments using actual RFID readers and tags. Results show that our approach can achieve accurate location estimation in typical IoT settings.