Embodiments of the present invention provide an encoder for encoding data defining coded orientations representing a reorientation of an object based on spatio-temporal data representing a time series of orientations of the object. The encoder includes a deriver, a selector, and a coder. The deriver is configured for deriving a plurality of components describing an orientation change difference between a last coded orientation change from a second last coded orientation to a last coded orientation, and a current orientation change from the last coded orientation to a current orientation of the object. The selector is configured for selecting a component of the plurality of components describing the orientation change difference. The coder is configured for coding the current orientation of the object based on the select component of the plurality of components describing the orientation change difference, thereby defining a current coded orientation.