Hello. To build a virtual environment, I use a robot that locates itself in an unknown environment and at the same time builds a map of this environment for future use.
The idea is like a person in a new house, you will move from room to room trying to figure out where you are in the house while at the same time building a map in your head about the structure of the house.
SLAM can use all kinds of technologies, one of them being computer vision, especially 3D computer vision. In the video, you can find easily tracked objects and autonomous vehicles vision defined in this space, as well as display the location of the vehicle on the map.