We have developed a point-based rendering application with high-speed spatial interpolation using a point cloud to generate virtual reality (VR) data called LiDAR VR. This application not only transforms from a point cloud to VR data but can also generate missing-point data in the rendered result from a selected viewpoint. Moreover, we have focused on the following features of the LiDAR VR generation. First, panorama imagery can be generated automatically from arbitrary viewpoints from one observation data set. Second, it is possible for a spatial interpolation with rendering results to reduce the processing task. These features have been verified using case studies.