It probably comes down to the connection itself, on both ends: the Internet Provider, what else is running that uses internet, WLAN etc. Increase remote latency is the first best thing to do (try 1.5 to max 3 seconds). Check connectvst.com for more info.
You may try to open incoming UDP port 51113 on both ends, but it should do without.
Skype isn’t a measure, it works differently, and people accept glitches, dropouts, and bad quality.
To see each others picture, enable the according cam in settings / video device.