An imaging system may include an image sensor and an image encoder that encodes images from the image sensor with fixed output sizes and frame rates. The image encoder may encode images from the image sensor into an image format such as a Joint Photographic Experts Group (JPEG) format. The image encoder may insert padding data between image blocks in the encoded data to compensate in real time for variations in the encoded size of an image. The amount of padding data inserted by the encoder may be calculated to ensure the encoded image has a file size close to, but not greater than, the required fixed output size. If needed, the encoder may add additional padding data after the image blocks are encoded in a blanking period before a subsequent image is encoded so that the final size of the encoded image is equal to the required output size.