Many approaches have been proposed to build a unified IoT platform where physical and digital objects are accessible by applications crossing different organization and domains, and are based on IP-overlay architecture. These solutions inherit the constraints of the current internet, especially in terms of naming, heterogeneity, mobility and security. In this paper, we propose a new Information-Centric Network (ICN) based IoT middleware to address these challenges by leveraging various promising features of ICN, such as naming. We elaborate the functions of ICN-based IoT middleware by integrating with the two future internet architectures, namely Named-Data Networking and MobilityFirst. Moreover, we evaluate the efficiency of service discovery (one of the functions in the proposed ICN-based IoT middleware) and demonstrate the feasibility of the proposed ICNbased IoT middleware.