Traditional virtual reality (VR) technology generates indoor three-dimensional (3D) map models using artificial modeling, which has the challenges of slow speed and deviation between the model and real object scale. Therefore, this study proposes a real environment 3D modeling system for mobile robots based on VR. First, the indoor high-precision dense 3D point cloud map can be rapidly obtained by using visual simultaneous localization and mapping (SLAM) technology. Second, the 3D point cloud can be reconstructed into the indoor 3D model through the surface reconstruction algorithm and imported into unity 3D. Next, the indoor 3D model is placed in the 3D virtual environment with the VR equipment's aid. Finally, the relocation of the mobile robot to the indoor environment is achieved by visual SLAM technology, and the pose of the robot in the model is mapped in real time to complete the interaction. Using visual SLAM technology to build the 3D map model is quick, solves the problem of scene scale deviation, and attains the reuse of map. Simultaneously, VR technology also allows operators to obtain a strong sense of immersion to better understand the working environment of the robot.