A method, a controller, and a system for encoding a sequence of video frames captured by a camera mounted to a moving object. The method comprises receiving input indicating an amount of movement of the camera, receiving input regarding a predetermined distance, and selecting between intra-coding and inter-coding of the video frames of the sequence based on the amount of movement of the camera and the predetermined distance, such that the camera moves at most the predetermined distance between capturing video frames which are intra-coded.