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Distributed video coding (DVC) is a video coding paradigm that allows for a low-complexity encoding process by exploiting the temporal redundancies in a video sequence at the decoder side. State-of-the-art DVC systems exhibit a structural coding delay since exploiting the temporal redundancies through motion-compensated interpolation requires the frames to be decoded out of order. To alleviate this problem, we propose a system based on motion-compensated extrapolation that allows for efficient low-delay video coding with low complexity at the encoder. The proposed extrapolation technique first estimates the motion field between the two most recently decoded frames using the Lucas-Kanade algorithm. The obtained motion field is then extrapolated to the current frame using an extrapolation grid. The proposed techniques are implemented into a novel architecture featuring hybrid block-frequency Wyner-Ziv coding as well as mode decision. Results show that having references from both temporal directions in interpolation provides superior rate-distortion performance over a single temporal direction in extrapolation, as expected. However, the proposed extrapolation method is particularly suitable for low-delay coding as it performs better than H.264/AVC intra, and it is even able to outperform the interpolation-based DVC codec from DISCOVER for several sequences.