Virtual reality technology is widely applied in mobile robot fighting platforms. This will provide the operator the visual telepresence and increase the teleoperation efficiency. The virtual surrounding is a visual stereo space. With applications of corresponding software and algorithms, models for the real environment are built. Based on the basic theory of stereo vision, the camera calibration is established. At the same time, the algorithms of feature extraction, stereo matching and three-dimensional computation are worked out. Some algorithms of three-dimensional modeling suitable to the stereo vision system are proposed. The three-dimensional model is finally displayed through Open Inventor. The result of experiment indicates that the three-dimension modeling system proposed in this paper is practical and can reflect depth information of barriers accurately.