Poles is how many total magnets there are on the rotor; this is usually an even number. If it needs pole pairs you divide that by two. (for instance, many common DD hubmotors have 46 magnets, or poles, and 23 pole pairs).
kV is how many RPM you get for each volt applied to the motor. Conversely this is how many volts you should read across a pair of phase wires when spinning it at a given RPM. If you have a known speed motor you can use spin this motor with, you can measure the voltage and divide by the RPM to get kV.
The resistance (ohms) and inductance (microhenries) are tough to measure without special equipment for the purpose, but resistance of any pair of phases can be done with a constant current source, measure the current and the voltage across the phases, and Ohm's law has the math to tell you the resistance. I don't know how to get the inductance without the specialized equipment, though.
What does the autotune procedure in the PR determine for any of those numbers?
