I saw a demo by some guys at work...
They took a LIDAR generated point cloud of the interior of a lava tube, turned it into a mesh and applied a 360 picture of the environment to the mesh... you could put on VR goggles and move around the lavatube... there were weird areas of missing data where the LIDAR and camera were shadowed by foreground objects, but it was quite interesting... especially when you thought about how this could be done for Lava tubes on the moon or Mars...