The objective of this study is to enhance the quality of video transmission in telepresence systems by comparing the latency of video streaming on four different boards with varying performance. The results indicated that the Jetson Nano exhibited the shortest latency, with a value of 0.19 s. Moreover, the results indicate that GPU performance plays a more significant role in reducing latency than CPU performance. These findings indicate that the selection of a video transmission board with excellent graphics performance is crucial for optimizing the efficiency and user experience of telepresence systems. This study indicated that boards with relatively low CPU performance and high GPU performance, such as the Jetson Nano, are the most suitable for minimizing latency. These findings can be applied to various fields that require high-quality real-time communication for the construction and optimization of telepresence systems.