In　this　paper,　an　effective　RBPF-based　map　generation　approach　for　an　indoor　mobile　robot　based　on　Laser　Range　Finder　is　introduced　in　detail.　We　use　Particle　Filter　(PF)　for　sake　of　its　advantage　of　not　being　subject　to　linearity　and　Gaussianity　constraints　on　the　system　model.　Compared　with　the　other　SLAM　approach,　RBPF　framework　requires　less　demanding　and　its　computation　complex　can　be　reduced.　The　experimental　results　are　given　to　verify　the　effectiveness　of　the　designed　method.　©　2011　SICE.