Many control schemes exist to facilitate the teleoperation of robotic systems. Typical systems rely on joystick or button controls to navigate within an environment. This approach may not always be sufficient depending on the task at hand, however. Given complex environments or complex tasks to be carried out via the robotic system, it may be desirable to allow the teleoperator to have a greater sense of immersion within the robot’s environment. To approach this problem, we developed a novel virtual reality (VR) user interface. The system uses simultaneous localization and mapping (SLAM) software, BundleFusion, to build a 3D model of the robots surroundings in real time as the robot is navigated. This 3D reconstruction is displayed within the operator’s VR headset allowing the operator to see various perspectives within regions of explored environment. The operator is able to control the movement of the robot via physical movements within the VR tracking space as well as point and click teleportation commands. The interface provides the potential for teleoperators to feel as though they are present in the robot’s environment.