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This paper revisits the problem of rate distortion optimization (RDO) with focus on inter-picture dependence. A joint RDO framework which incorporates the Lagrange multiplier as one of parameters to be optimized is proposed. Simplification strategies are demonstrated for practical applications. To make the problem tractable, we consider an approach where prediction residuals of pictures in a video sequence are assumed to be emitted from a finite set of sources. Consequently the RDO problem is formulated as finding optimal coding parameter
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