In this paper, we propose a method to recognize the 6DoF pose of multiple objects simultaneously. One good solution to recognize them is applying a Hypothesis Verification (HV) algorithm. This type of algorithm evaluates consistency between an input scene and scene hypotheses represented by combinations of object candidates generated from the model based matching. Its use achieves reliable recognition because it maximizes the fitting score between the input scene and the scene hypotheses instead of maximizing the fitting score of an object candidate. We have developed a more reliable HV algorithm that uses a novel cue, the naturalness of an object’s layout (its physical reasoning). This cue evaluates whether the object’s layout in a scene hypothesis can actually be achieved by using simple collision detection. Experimental results show that using the physical reasoning have improved recognition reliability.