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The requirement to transmit video data over unreliable wireless networks is anticipated in the foreseeable future. Significant compression ratio and error resilience are both needed for applications including tele-operated robotics, vehicle-mounted cameras, sensor network, etc. Block-matching based inter-frame coding techniques, such as MPEG-x and H.26x, do not perform well in these scenarios due to error propagation between frames. Intra-only coding technologies, such as Motion-JPEG, exhibit better recovery from network data loss at the price of higher data rates. In order to address these issues, an intra-only coding scheme of H.264/AVC (iAVC) is proposed. In this approach, each frame is coded independently as an I-frame. In order to speed up the coding procedure, we propose a neural network based intra-only prediction mode decision approach, which has the potential to significantly reduce coding complexity. Frame copy is applied to compensate for packet loss. The proposed approach is a good balance between compression performance, memory usage, and error resilience. It achieves compression performance comparable to Motion-JPEG2000, with lower complexity. Low computational complexity and memory usage are very crucial to mobile stations and devices in wireless networks.