The Super Eagles, who finished in second place behind Argentina in Group F, take on Les Bleus in Brasilia on Monday.
While the Nigerians head into the match as underdogs, Yobo believes that he and his countrymen have every chance of reaching the quarter-finals.
"We've just played against the best forward in the world (Lionel Messi), so we're ready to measure ourselves against anybody," he told FIFA.com. "I don't see what we should be afraid of. I believe in this team, and I think we can do it."
Yobo will win his 101st cap for Nigeria if he is selected to play against France.