diff --git a/CHANGELOG.md b/CHANGELOG.md
index ded524b..d2581b9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,8 +16,13 @@ Each release is tagged in Git and on the Docker repository
 *   fix [#157](https://github.com/scottlamb/moonfire-nvr/issues/157): broken
     live view when using multi-view and selecting the first listed camera
     then selecting another camera for the upper left grid square.
-*   support `--rtsp-transport=udp`, which improves compatibility with Reolink
-    cameras.
+*   support `--rtsp-transport=udp`, which may work better with cameras that
+    use old versions of the live555 library, including many Reolink models.
+*   send RTSP `TEARDOWN` requests on UDP or with old live555 versions; wait out
+    stale sessions before reconnecting to the same camera. This may improve
+    reliability with old live555 versions when using TCP also.
+*   improve compatibility with cameras that send non-compliant SDP, including
+    models from Geovision and Anpviz.
 
 ## `v0.6.5` (2021-08-13)
 
diff --git a/server/Cargo.lock b/server/Cargo.lock
index 3b87fa3..6b2a2c7 100644
--- a/server/Cargo.lock
+++ b/server/Cargo.lock
@@ -1868,9 +1868,9 @@ dependencies = [
 
 [[package]]
 name = "retina"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "446070f3caf291e982d240c7f921837f6da0cbffbc26f1d785b0a8d214f2cadd"
+checksum = "819b5befff8af9b03e21256d577d101754527eb981dcd2804cb8725ce1dca978"
 dependencies = [
  "base64",
  "bitreader",
@@ -1886,7 +1886,7 @@ dependencies = [
  "rand",
  "rtp-rs",
  "rtsp-types",
- "sdp",
+ "sdp-types",
  "smallvec",
  "thiserror",
  "time",
@@ -2024,14 +2024,13 @@ dependencies = [
 ]
 
 [[package]]
-name = "sdp"
-version = "0.1.5"
+name = "sdp-types"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db73ce8329b973830407fb1ba0e51bc32716392281f7757a92f372a1420bb8ec"
+checksum = "ae499f6886cff026ebd8355c8f67a1881cd15f23ce89de4aab13588cf52142dd"
 dependencies = [
- "rand",
- "thiserror",
- "url",
+ "bstr",
+ "fallible-iterator",
 ]
 
 [[package]]
@@ -2364,9 +2363,9 @@ checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
 
 [[package]]
 name = "tokio"
-version = "1.10.1"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92036be488bb6594459f2e03b60e42df6f937fe6ca5c5ffdcb539c6b84dc40f5"
+checksum = "b4efe6fc2395938c8155973d7be49fe8d03a843726e285e100a8a383cc0154ce"
 dependencies = [
  "autocfg",
  "bytes",
diff --git a/server/Cargo.toml b/server/Cargo.toml
index 473dbf0..6283e24 100644
--- a/server/Cargo.toml
+++ b/server/Cargo.toml
@@ -46,7 +46,7 @@ nom = "7.0.0"
 parking_lot = { version = "0.11.1", features = [] }
 protobuf = { git = "https://github.com/stepancheg/rust-protobuf" }
 reffers = "0.6.0"
-retina = "0.3.0"
+retina = "0.3.1"
 ring = "0.16.2"
 rusqlite = "0.25.3"
 serde = { version = "1.0", features = ["derive"] }
diff --git a/server/src/cmds/config/cameras.rs b/server/src/cmds/config/cameras.rs
index f511189..be02eb7 100644
--- a/server/src/cmds/config/cameras.rs
+++ b/server/src/cmds/config/cameras.rs
@@ -158,6 +158,7 @@ fn press_test_inner(
             username,
             password,
             transport: retina::client::Transport::Tcp,
+            session_group: Default::default(),
         },
     )?;
     Ok(format!(
diff --git a/server/src/cmds/run.rs b/server/src/cmds/run.rs
index bf89ce3..4f71ea0 100644
--- a/server/src/cmds/run.rs
+++ b/server/src/cmds/run.rs
@@ -10,6 +10,7 @@ use failure::{bail, Error, ResultExt};
 use fnv::FnvHashMap;
 use futures::future::FutureExt;
 use hyper::service::{make_service_fn, service_fn};
+use log::error;
 use log::{info, warn};
 use std::path::PathBuf;
 use std::sync::atomic::{AtomicBool, Ordering};
@@ -216,6 +217,8 @@ async fn async_run(args: &Args) -> Result<i32, Error> {
     // Start a streamer for each stream.
     let shutdown_streamers = Arc::new(AtomicBool::new(false));
     let mut streamers = Vec::new();
+    let mut session_groups_by_camera: FnvHashMap<i32, Arc<retina::client::SessionGroup>> =
+        FnvHashMap::default();
     let syncers = if !args.read_only {
         let l = db.lock();
         let mut dirs = FnvHashMap::with_capacity_and_hasher(
@@ -271,6 +274,10 @@ async fn async_run(args: &Args) -> Result<i32, Error> {
             };
             let rotate_offset_sec = streamer::ROTATE_INTERVAL_SEC * i as i64 / streams as i64;
             let syncer = syncers.get(&sample_file_dir_id).unwrap();
+            let session_group = session_groups_by_camera
+                .entry(camera.id)
+                .or_default()
+                .clone();
             let mut streamer = streamer::Streamer::new(
                 &env,
                 syncer.dir.clone(),
@@ -278,6 +285,7 @@ async fn async_run(args: &Args) -> Result<i32, Error> {
                 *id,
                 camera,
                 stream,
+                session_group,
                 rotate_offset_sec,
                 streamer::ROTATE_INTERVAL_SEC,
             )?;
@@ -344,6 +352,14 @@ async fn async_run(args: &Args) -> Result<i32, Error> {
 
     info!("Waiting for HTTP requests to finish.");
     server_handle.await??;
+
+    info!("Waiting for TEARDOWN requests to complete.");
+    for g in session_groups_by_camera.values() {
+        if let Err(e) = g.await_teardown().await {
+            error!("{}", e);
+        }
+    }
+
     info!("Exiting.");
     Ok(0)
 }
diff --git a/server/src/stream.rs b/server/src/stream.rs
index 2c5bc37..60762ad 100644
--- a/server/src/stream.rs
+++ b/server/src/stream.rs
@@ -15,6 +15,7 @@ use std::convert::TryFrom;
 use std::ffi::CString;
 use std::pin::Pin;
 use std::result::Result;
+use std::sync::Arc;
 use url::Url;
 
 static START_FFMPEG: parking_lot::Once = parking_lot::Once::new();
@@ -62,6 +63,7 @@ pub enum Source<'a> {
         username: Option<String>,
         password: Option<String>,
         transport: Transport,
+        session_group: Arc<retina::client::SessionGroup>,
     },
 }
 
@@ -73,6 +75,7 @@ pub enum Source {
         username: Option<String>,
         password: Option<String>,
         transport: Transport,
+        session_group: Arc<retina::client::SessionGroup>,
     },
 }
 
@@ -141,6 +144,7 @@ impl Opener for Ffmpeg {
                 username,
                 password,
                 transport,
+                ..
             } => {
                 let mut open_options = ffmpeg::avutil::Dictionary::new();
                 open_options
@@ -301,6 +305,7 @@ impl Opener for RetinaOpener {
                 username,
                 password,
                 transport,
+                session_group,
             } => (
                 url,
                 retina::client::SessionOptions::default()
@@ -313,6 +318,7 @@ impl Opener for RetinaOpener {
                         _ => bail!("must supply username when supplying password"),
                     })
                     .transport(transport)
+                    .session_group(session_group)
                     .user_agent(format!("Moonfire NVR {}", env!("CARGO_PKG_VERSION"))),
             ),
         };
diff --git a/server/src/streamer.rs b/server/src/streamer.rs
index 7becc86..a0215ca 100644
--- a/server/src/streamer.rs
+++ b/server/src/streamer.rs
@@ -42,6 +42,7 @@ where
     opener: &'a dyn stream::Opener,
     transport: retina::client::Transport,
     stream_id: i32,
+    session_group: Arc<retina::client::SessionGroup>,
     short_name: String,
     url: Url,
     username: Option<String>,
@@ -59,6 +60,7 @@ where
         stream_id: i32,
         c: &Camera,
         s: &Stream,
+        session_group: Arc<retina::client::SessionGroup>,
         rotate_offset_sec: i64,
         rotate_interval_sec: i64,
     ) -> Result<Self, Error> {
@@ -76,6 +78,7 @@ where
             opener: env.opener,
             transport: env.transport,
             stream_id,
+            session_group,
             short_name: format!("{}-{}", c.short_name, s.type_.as_str()),
             url,
             username: c.username.clone(),
@@ -110,6 +113,28 @@ where
         info!("{}: Opening input: {}", self.short_name, self.url.as_str());
         let clocks = self.db.clocks();
 
+        let mut waited = false;
+        loop {
+            let status = self.session_group.stale_sessions();
+            if let Some(max_expires) = status.max_expires {
+                if let Some(d) = max_expires.checked_duration_since(tokio::time::Instant::now()) {
+                    log::info!(
+                        "{}: Waiting {:?} for {} stale sessions to expire",
+                        &self.short_name,
+                        d,
+                        status.num_sessions
+                    );
+                    std::thread::sleep(d);
+                    waited = true;
+                }
+            } else {
+                if waited {
+                    log::info!("{}: Done waiting", &self.short_name);
+                }
+                break;
+            }
+        }
+
         let (extra_data, mut stream) = {
             let _t = TimerGuard::new(&clocks, || format!("opening {}", self.url.as_str()));
             self.opener.open(
@@ -119,6 +144,7 @@ where
                     username: self.username.clone(),
                     password: self.password.clone(),
                     transport: self.transport,
+                    session_group: self.session_group.clone(),
                 },
             )?
         };
@@ -383,6 +409,7 @@ mod tests {
                 testutil::TEST_STREAM_ID,
                 camera,
                 s,
+                Arc::new(retina::client::SessionGroup::default()),
                 0,
                 3,
             )