A video encoder compresses video for real-time transmission to a video decoder of a remote teleoperator system that provides teleoperator support to the vehicle based on the real-time video. The video encoder recognizes one or more generic objects in captured video that can be removed from the video without affecting the ability of the teleoperator to control the vehicle. The video encoder removes regions of the video corresponding to the generic objects to compress the video, and generates a metadata stream encoding information about the removed objects. The video decoder generates replacement objects for the objects removed the compressed video. The video decoder inserts the rendered replacement objects into relevant regions of the compressed video to reconstruct the scene.