Augmented reality (AR) telepresence systems and methods are disclosed for obtaining a 3D model of a physical location from a 3D-capture system comprising one or more 3D depth sensors disposed throughout the physical location, generating a truncated 3D model of the physical location, the truncated 3D model corresponding to the intersection of the generated 3D model and a field of view of a user terminal camera at the physical location, and transmitting the truncated 3D model to a remote location.