Measurement Of Latency On Visual Feedback In an Immersive Telepresence Robotic System

Abstract

This paper addresses the latency of visual feedback in an immersive telepresence robotic system. The latency is defined as the delay between the real event occurring in the robot`s environment and the event displayed to the user. While it has been a widely recognized problem in teleoperation and telepresence, the existing research mainly focuses on mitigating it and there are relatively few works that conducted quantitative measurements. As opposed to most existing works, we propose to quantify and compare the latency caused by each internal connection in telepresence robotic systems. Our proposed method is able to identify key contributors to the overall latency, and the experimental results can be used to design effective mitigating strategies.