In order to improve the level of the human-robot interaction(HRI), a HRI system based on 3D mapping and virtual reality(VR) is proposed, which is realized for rescue robots. In this system, rescue robots construct the 3D environment point map in the complex post-disaster environment based on a multi-line laser radar and an inertial measurement unit(IMU), which is represented using the 3D-NDT representation method. The map is then incrementally transmitted to the VR system. In the VR side, the human operator uses interactive devices to generate robot control commands to tele-control the robot's movement, in order to perform the rescue task. Using the proposed system, the operator can obtain a strong sense of immersion, and can understand the robot's working environment more directly based on the real-time visualization of the robot environment in virtual reality. In addition, as a new way of human-robot interaction, the proposed system provides new ideas to improve the natural level of interaction between the robot and the human operator, and is of great importance to promote the development of human-robot interaction technology.