Real-time point-cloud data transmission for teleoperation using H.264/AVC

Abstract

This paper presents an algorithm that offers real-time point-cloud transmission for teleoperation using H.264/AVC. Because the 3D-visualized point-cloud data provides metric information regarding the remote workplace, the teleoperator can observe the remote workplace from several viewpoints. The size of point-cloud data is a limitation when transmitting in poor and unstable network environments in real-time. Therefore, to perform robust teleoperation, it is necessary to compress point-cloud data at the remote location and transmit it in real-time. The feasibility of the proposed algorithm is verified by applying it in indoor and outdoor mapping with a 3G network system. Real-time teleoperation is effectively realized by applying the suggested algorithm.