IRS Soryu is rescue robot which used for victim search in disaster area. We aim at development of display method for wide view angle and high definition images for controlling the rescue robots and searching for victims. In our study, we developed small size multi camera system and displayed a wide view angle and high definition image. However, it is too hard for an operator to recognize the robot and environment intuitively. We need to develop a display method of these multi camera images for intuitive recognition. In this paper, we develop the on-line simulation system for the verification of multi camera based wide field of view display. This system has some requirements that; a. Simulation of IRS Soryu dynamics, b. Simulation of multi camera system, c. Flexibility of camera setting. We developed such simulator based on USARSim. Using the simulator, we examined some experiments for the verification of of the display methods.