Faster feedback for remote scene viewing with pan-tilt stereo camera

We demonstrate a remote scene viewing system for telepresence purposes. The system is based on a pan-tilt stereo camera that captures stereo video and transfers it to a remote user over a network. On the user end, the live stereo video is processed and displayed in a Head-Mounted Display. Faster feedback can be achieved through latency compensation. Using a wider field-of-view, higher resolution camera, the appropriate subset of the image is selected and displayed. We introduce the hardware configuration and software framework for the system and a method to calculate the homography between the camera image space and user head image space. Our perceived latency of the system is estimated to be 50-100ms.