BUT Telepresence: A Fully Open-Source VR Framework for Low-Latency Stereoscopic Video Streaming with End-to-End Latency Instrumentation

BUT Telepresence: A Fully Open-Source VR Framework for Low-Latency Stereoscopic Video Streaming with End-to-End Latency Instrumentation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article BUT Telepresence: A Fully Open-Source VR Framework for Low-Latency Stereoscopic Video Streaming with End-to-End Latency Instrumentation Stanislav Svediroh, Ludek Zalud This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8855703/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Advances in immersive telepresence have enabled compelling virtual reality(VR)-based teleoperation, yet existing systems remain difficult to reproduce,inflexible in their streaming configuration, and largely devoid of end-to-endlatency instrumentation. Current research prototypes typically rely on fixedencoding parameters, do not expose a unified interface for real-time reconfig-uration, and rarely support hardware-accelerated decoding on standalone VRheadsets. As a result, the community lacks an open, validated reference frame-work for low-latency stereoscopic teleoperation. This paper introduces a fullyopen-source VR telepresence system that integrates stereoscopic capture ona two-degrees-of-freedom (2-DOF) camera module, low-latency encoding usingGStreamer, head-coupled camera actuation, and a native OpenXR applicationcapable of hardware-accelerated decoding on modern standalone VR headsets.A key contribution is a built-in end-to-end latency instrumentation mechanismthat timestamps each stage of the pipeline and embeds these measurementsinto the media stream, enabling continuous monitoring by the VR client. Thisinformation enables the user to dynamically adjusts codec, resolution, andframe rate to maintain stable operator perception under heterogeneous networkconditions, including wireless links. The framework is validated in representa-tive robotics scenarios, demonstrating reliable stereoscopic teleoperation withmeasured end-to-end latencies down to approximately 50–80 ms in optimized1configurations and around 80-100 ms under constrained wireless conditions,with the VR headset’s pose prediction helping to mitigate perceived delay forthe operator. All software, including benchmark datasets and Grafana dash-board configuration, is released publicly at https://github.com/Robotics-BUT/BUT Telepresence to support reproducibility and future research. Telepresence Teleoperation Open-Source Framework Virtual Reality Robotics End-to-End Latency Instrumentation Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8855703","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":590256510,"identity":"ad917108-402a-4123-a462-8e058c453cd2","order_by":0,"name":"Stanislav Svediroh","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABCklEQVRIie3QMWvCQBTA8RcCl+XE9YUM+Qp3BKJCpF/lguBk6ZaxpAhxEVwTEPwKQsH5pnSqc8dIwKlDJ8mQQk0sWIoXOna4//Q47gf3DkCn+68JGH5PBAHQlN3XSUvwJyGiOeomcCXNTFkncTfzY1HU6DJpHfEjGj70neXJ6VXguvFtwnIyYGGCfCupb6d7HGXr151DBfAnFSHgYxijkcXU9HoJMvZ2/+ydiTBVD0usE4oa77LYKr3PlszKlhDVMjn1URAMVwC8NC7EKBtCFYLlswjPu0xWJuWH5R6ZnU75YT1FnqoeNn/Z2VUdjBNrUcgqemR9nBTyPQiUP3bt17Z4+5ZOp9Pp/tQXY+NM5SZf+8IAAAAASUVORK5CYII=","orcid":"","institution":"Central European Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Stanislav","middleName":"","lastName":"Svediroh","suffix":""},{"id":590256511,"identity":"c1065fcc-e065-4ede-96a4-89cfa0289d56","order_by":1,"name":"Ludek Zalud","email":"","orcid":"","institution":"Brno University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Ludek","middleName":"","lastName":"Zalud","suffix":""}],"badges":[],"createdAt":"2026-02-11 21:38:13","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-8855703/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8855703/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":102963588,"identity":"4c1609bc-545e-4940-984d-dd47e016fdb0","added_by":"auto","created_at":"2026-02-19 04:19:11","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":3191189,"visible":true,"origin":"","legend":"","description":"","filename":"BUTTelepresenceSpringer.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8855703/v1_covered_86997cd1-b191-45ee-bb63-4eb35129e8ef.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"\u003cp\u003eBUT Telepresence: A Fully Open-Source VR Framework for Low-Latency Stereoscopic Video Streaming with End-to-End Latency Instrumentation\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":" Telepresence, Teleoperation, Open-Source Framework, Virtual Reality, Robotics, End-to-End Latency Instrumentation","lastPublishedDoi":"10.21203/rs.3.rs-8855703/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8855703/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Advances in immersive telepresence have enabled compelling virtual reality(VR)-based teleoperation, yet existing systems remain difficult to reproduce,inflexible in their streaming configuration, and largely devoid of end-to-endlatency instrumentation. Current research prototypes typically rely on fixedencoding parameters, do not expose a unified interface for real-time reconfig-uration, and rarely support hardware-accelerated decoding on standalone VRheadsets. As a result, the community lacks an open, validated reference frame-work for low-latency stereoscopic teleoperation. This paper introduces a fullyopen-source VR telepresence system that integrates stereoscopic capture ona two-degrees-of-freedom (2-DOF) camera module, low-latency encoding usingGStreamer, head-coupled camera actuation, and a native OpenXR applicationcapable of hardware-accelerated decoding on modern standalone VR headsets.A key contribution is a built-in end-to-end latency instrumentation mechanismthat timestamps each stage of the pipeline and embeds these measurementsinto the media stream, enabling continuous monitoring by the VR client. Thisinformation enables the user to dynamically adjusts codec, resolution, andframe rate to maintain stable operator perception under heterogeneous networkconditions, including wireless links. The framework is validated in representa-tive robotics scenarios, demonstrating reliable stereoscopic teleoperation withmeasured end-to-end latencies down to approximately 50–80 ms in optimized1configurations and around 80-100 ms under constrained wireless conditions,with the VR headset’s pose prediction helping to mitigate perceived delay forthe operator. 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