Techniques and systems are provided for encoding video data. For example, a method of encoding video data includes obtaining a background picture that is generated based on a plurality of pictures captured by an image sensor. The background picture is generated to include background portions identified in each of the captured pictures. The method further includes encoding, into a video bitstream, a group of pictures captured by the image sensor. The group of pictures includes at least one random access picture. Encoding the group of pictures includes encoding at least a portion of the at least one random access picture using inter-prediction based on the background picture.