1. One or more non-transitory computer-readable media storing a plurality of executable instructions configured to program a computing device to perform operations comprising: receiving a sequence of depth images and corresponding texture images, the depth images representing a three-dimensional description of a location and the texture images representing color values of the location; performing depth normalization on at least a portion of a depth image of the sequence of depth images including identifying one or more objects in the texture image, classifying one or more portions of the depth images as smooth regions and one or more other portions of the depth images as edge regions based on proximity to the identified one or more objects, and for a smooth region, setting a depth value of a pixel based on pixel values of neighboring pixels, and, for an edge region, segmenting a portion of the one or more other portions and setting a depth value of a pixel of the portion based on depth values of other pixels in a same segment; generating reduced representations of depth images of the sequence of depth images based at least in part on a depth reference model and on a depth error model, the reduced representations of the depth images retaining depth values associated with motion relative to the depth reference model, wherein generating the reduced representations of depth images includes determining difference values between respective pixel values of the depth images and corresponding pixel values of the depth reference model and removing pixel values from the depth images within a threshold value of the corresponding depth value in the depth reference model, the threshold value specified in the depth error model; and providing the reduced representation of the depth images and the depth reference model to an encoder to generate compressed representations of the reduced depth images and the depth reference model.