The pandemic showed the power of video calls, as it was used to accomplish a multitude of tasks that normally required physical attendance. Expanding on the video call’s transmission of sight and sound, haptic bilateral teleoperation aims to add the sense of touch and the ability to manipulate a remote envir- onment as if the user is physically present. Haptic bilateral teleoperation is a technique where a robot mimics the actions of a human operator, who in turn receives feedback from the robot’s sensors. The technique requires low-latency haptic feedback, in the range of single-digit milliseconds, which is completely im- practical when transmitting force measurements over a large distance network. Instead, the low latency requirements can be fulfilled with Model Mediated Teleoperation (MMT) to predict the user’s perceived force feedback. With the addition of force feedback, the latency of the video feedback becomes an area of greater concern. Force and video feedback in conjunction are necessary for true immersion, but using MMT to generate real-time video feedback is im- practical. This work explores a configuration where MMT is used to generate haptic feedback and video feedback is transmitted from the remote environment to the user. Transmittance of video feedback is made possible due to its relaxed latency requirements compared to force feedback. The sources of video latency can be divided into two, latency caused by the network transmission and latency from the non-network components. While minimization of both is valuable, any time saved on the non-network components can be spent on expanding the net- work and maximizing the technology’s range. In this work, we aim to answer the question ”How can we minimize the latency caused by the non-network components of a live video feedback system?” Our approach is to design a field- programmable gate array (FPGA) configuration to minimize all latencies in a live video system excluding the camera, network, and monitor components. We demonstrate a no-network live video system with 34 ms latency, of which around 5 ms originate from the FPGA. This is a marked improvement of the 63 ms latency our department achieved using a non-FPGA solution. Utilization of cameras and monitors designed for low latencies is recommended for bet- ter results, with a hypothesized latency of 11.5 ms for a high-end non-network approach.

The tactile internet can be described as the next step of the internet. It can empower people, adding physical interactions to what normally is just an audiovisual experience.
It however does need ultra-low latency.
A solution to having delays can be found in environment simulation.
This paper describes a way to find the correct shape of objects within the observed environment.
There already are AI-based approaches, but the problem is that they are not transparent in how they work.
Hence the research question in this paper: Is it possible to create a 3D point cloud completion algorithm from 2.5D data, without resorting to the use of AI?
A three-step approach was chosen: dividing the scene, reconstructing its objects, and turning everything into meshes. The focus was on the reconstruction. The basic principle used is that of symmetry.
The main conclusions are that this approach can work, but only for relatively simple objects.
And whereas the results are easier to understand, the logic-based approach is slower and less accurate than existing approaches.