In this paper, teleoperation system using past image records considering moving objects and narrow communication bandwidth is proposed. Since the existing system uses past images, moving objects cannot display correct positions. To reflect moving objects, we improve three methods in the system. The first method is the particle filter algorism for detecting moving objects. The second method is deletion of moving objects on the background image. The third method is displaying of moving objects on the current image. On the other hand, for narrow communication bandwidth, we improve three methods in the system: fish-eye camera, zoom function and additional line. Furthermore we have a verification experiment for the proposed system.