The paper presents an effective positioning and the Map-Building indoor mobile robot navigation technology foundation, Rao-Blackwellized laser particle filter (specified-matching RBPF). Robot technology middleware technology is used in measuring system developed by the match colors. Use data, developed LRF RTM, mobile robots get components control component, data buffer composition, RBPF components, matching component, local map components and GUI components. Using survey, components can be realized by different programming languages, running on different operating systems, or in the different network connection system-operate.