In　this　paper,　we　presents　an　efficient　Simultaneous　Localization　and　Map-Building　(SLAM)　technique　for　indoor　mobile　robot　navigation　based　on　Laser　Range　Finder　and　Rao-Blackwellized　Particle　Filter　(RBPF).　Robot　Technology　Middleware　(RTM)　was　used　in　the　developed　system.　By　using　RTM,　we　can　develop　functional　elements　as　＇RT　software　components＇　that　can　be　implemented　by　different　programming　languages,　run　in　different　operating　system,　or　connected　in　different　networks　to　inter-operate.　Based　on　RTM,　we　developed　LRF　data　getting　component,　mobile　robot　control　component,　data　buffer　component,　RBPF　component,　matching　component,　local　map　component　and　GUI　component.　This　paper　describes　the　architecture　of　the　proposed　system　and　gives　some　experimental　results.　©　2011　IEEE.