  Teleoperation is necessary when the robot is applied to real missions, for
example surveillance, search and rescue. We proposed teleoperation system using
past image records (SPIR). SPIR virtually generates the bird's-eye view image
by overlaying the CG model of the robot at the corresponding current position
on the background image which is captured from the camera mounted on the robot
at a past time. The problem for SPIR is that the communication bandwidth is
often narrow in some teleoperation tasks. In this case, the candidates of
background image of SPIR are few and the position of the robot is often
delayed. In this study, we propose zoom function for insufficiency of
candidates of the background image and additional interpolation lines for the
delay of the position data of the robot. To evaluate proposed system, an
outdoor experiments are carried out. The outdoor experiment is conducted on a
training course of a driving school.
