Abstract: Compression techniques are described. In an embodiment, a first plane of sensor data is accessed, the first plane of sensor data is divided into a plurality of slices, each sample is encoded in each slice from the plurality of slices, where encoding a sample include computing a median based prediction for the sample, computing an error for the sample comprising a difference between the sample and the computed median based prediction, determining a context for the sample, selecting a model for the sample by using the determined context, and encoding the computed error by using the selected model.