# A Telepresence Wheelchair with 360-Degree Vision Using WebRTC
## 3 Results
### Experiment 3: Evaluation of Remote Control Telepresence Wheelchair
These results are entirely supported by previous studies [20; 21; 24] which demonstrated real-time telepresence. This result revealed that WebRTC processing is done at the user level, which reduces the delay in processing and connection time. Moreover, the transmission rate of WebRTC is able to adapt to the available bandwidth of the network, whereas Skype platform adjusts the video resolution to adapt to the network condition [20; 21; 24]. Similar findings were observed by another study reported in [25], which indicated that the WebRTC-based video conference system could perform well on the network less than 1 Mbps of bandwidth capacity. These outcomes supported the results of this study. More importantly, WebRTC is open-source and easily accessible. The convergence capabilities of WebRTC technology can provide flexibility for further development and extension. During the second experiment (QoE estimation of wireless video streaming using neural networks), a QoE estimation model for wireless video streaming over WebRTC for a telepresence wheelchair is evaluated. The QoE estimation model was developed using neural network principles for video sequences streamed over different wireless network conditions. It was also observed that the model developed can be used for online QoE estimation given measurable network factors such as bit rate, jitter, round-trip-time, and packet loss rate. The estimated QoE is essential for telepresence wheelchair navigation. In terms of evaluation of remote control telepresence wheelchair with 360-degree vision, the experimental results in this study show that the telepresence wheelchair can perform in various environments. In the case of traveling straight ahead, the remote user has easily piloted the wheelchair to the target. Moreover, the wheelchair was able to be remotely controlled to follow the figure-eight curve in two different environmental conditions consisting of indoor and outdoor environments. Due to the unique telepresence wheelchair equipped with a fisheye camera for healthcare applications, it is hard to make a comparison between our approaches to previous appropriate works. However, regarding visibility support, we found that using such a fisheye camera could bring considerable benefits for a telepresence wheelchair. It is worth noting that the vast majority of existing telepresence robots in the literature, the installed camera is a traditional one. Therefore, a single view is available only at any one time. The received images of the remote environment are displayed on the screen in one direction view [10; 26; 27]. In such, these systems had a limited field of view. They are not flexible while operating in the reverse direction. Different from the existing telepresence systems, the novel approach presented in this study based on a 360-degree camera and our method provides a full field of view surroundings in all directions. However, a 360-degree camera is technically more complex and might be more expensive, but it offers superior performance. During the experiments, we also found that the quality of the received video depends on the network bandwidth. This limitation can be overcome by applying high-speed Internet networks combined with mobile broadband data network to secure network connectivity. Nevertheless, our novel approach has proven the effectiveness of WebRTC for a 360-degree vision telepresence wheelchair,and the use of a dual-fisheye camera along with WebRTC can deliver everything surrounding the wheelchair in 360 degrees. The state-of-the-art technologies would enable various interesting applications, including healthcare support and remote monitoring. Ultimately, considering the approach of this work, it is clear that the development of the telepresence wheelchair-using WebRTC is a promising concept in the field of assistive technology. The evaluation of the system performance and the findings contribute to the wireless streaming, telepresence system, and real-time application development. Experiments have shown the feasibility of the prototype system.