One or more methods, apparatuses, computer-readable storage mediums, and systems for entropy coding vertex information of an edge in a voxelized space of a point cloud are disclosed. Symbols of a neighborhood configuration of a current edge may be determined based on one or more already coded edges. The already coded edges may be selected from a spatial topology of edges. The use of a motion-compensated point cloud for coding centroid residual values may enhance interframe correlation used for determining a context or probability model. This increased correlation may improve the selection of coders, leading to enhanced compression of centroid residual values.