This research is a development of sensory information processing middlewares for a service mobile robot. In this paper the present author describe a development of obstacle detection and localization middlewares these abstract unified models from data of external sensors on a mobile robot. These supports different configuration of external sensors for a mobile robot. The unified model abstracted from external sensors can be used in any application softwares for a service mobile robot independent from the configuration of the sensors. In this paper, development of obstacle detection and localization middleware for service mobile robots, and application of several sensors to this middleware are described.