Abstract: Reference frame detection using sensor metadata, including: storing a plurality of first frames each corresponding to first metadata, wherein the first metadata for each first frame of the plurality of first frames is based on first sensor data from one or more sensors; generating a second frame corresponding to second metadata based on the one or more sensors; identifying, based on the first metadata of the plurality of first frames and the second metadata, a reference frame of the plurality of first frames; and encoding the second frame based on the reference frame.