Systems and methods for utilizing on-camera sensor information to improve video and/or image encoding quality are discussed herein. Specifically, the systems and methods described herein may utilize on-camera sensor information to adaptively adjust an intra frame insertion rate associated with a sequence of frames. The intra frame insertion rate associated with a sequence of frames may be adjusted based on the motion of the image capturing device while capturing the sequence of frames and a predefined motion threshold associated with the intra frame insertion rate of the sequence of frames. In some implementations, the intra frame insertion rate may be adjusted based on the activity being performed during the capture of the sequence of frames. As such, the encoding of one or more frames within a sequence of frames may be adaptively adjusted to better suit the scene depicted by the sequence of frames.