I feel like I shouldn’t repost the two things I’ve recently posted (one in the attached thread and another here) and instead I present that one time we drove a robot in VR back in grad school (4 years ago I think).
The area is digitized using a kinect and ElasticFusion + a home grown mesh simplification algorithm, the VR rendering was done through blender, and AMCL localizes the robot in this environement against an existing occupancy grid map.