Synergized QoE-Centric Streaming for Telerobotics

We propose an end-to-end video streaming solution for telerobotics aimed to improve the user experience despite variations in the underlying network. It uses a synergized smart spatio-temporal bitrate adaptation technique, tightly coupled with an adaptive exchange protocol semantics and smart open-loop jitter buffer adaptation. It shifts paradigm from existing GOPbased encoding and bitrate adaptation. Efficacy is proven by comparing performance against a similar telerobot system using WebRTC. Comparisons are done in terms of both objective QoE metrics, and subjective user experience study through live remote operation on the robot over the different long-haul Internet paths as well as for practical last mile channel degradation.