The Stage Comes to You: A Real-Time Tele-Immersive System with 3D Point Clouds and Vibrotactile Feedback

We present a low-latency tele-immersive entertainment system that streams 3D point clouds and performers' footstep vibrations, creating the sense that the stage is present. Moving performers and their surroundings are captured as dynamic point clouds under rapidly changing lighting, then processed, transmitted, and rendered within a total latency of less than 100 ms. Under high ambient noise, footstep vibrations are sensed by wearable accelerometers. Real-time visual and haptic streams are delivered to a remote venue, where a large 3D LED wall and a vibration-efficient haptic floor envelop dozens of spectators. A public trial at Expo 2025 linked sites 20 km apart: visitors watched a live dance show and conversed with performers without noticeable delay.