Robust Video Transmission for Robot Teleoperation Over Networks with Packet Loss

Abstract

In imperfect communication environments, such as those with high packet loss, systems using remote videos to perform robot teleoperations exhibit video quality degradation and reduced operability, which deteriorates work quality. In this study, we proposed using a video transmission method to suppress video quality degradation and associated reduction in work quality. Instead of using video compression and transmission, we combined motion JPEG, which compresses individual frames and transmits them sequentially, with erasure correction using parity, to reduce video freezing in remote video transmission and improve work quality. To validate this method, we measured the reception rates of video frames with and without erasure correction. We conducted subjective evaluations using an industrial robot that erasure correction was effective in teleoperation environments with sufficient bandwidth. However, in environments with limited bandwidth, the increase in data volume should be considered because of erasure probability and parity assignment. Furthermore the selection of an appropriate strength of erasure correction is necessary.