Overhead of SPS and PPS is typically negligible (excepting bizarre cases when all frames are black and takes several dozens bytes). SPS and PPS are usually transmitted once per closed GOP and the size of SPS and PPS is negligible to the size of the whole GOP. So, why dozens parameters in SPS and PPS are Exp-Golomb coded? To save 10-20 bytes and to complicate parsing? Indeed, variable length coding of parameters complicates parsing of SPS and PPS by Middle boxes. My conjecture is related to Mpeg-2 Systems (or to Transport Stream container).  Smaller SPS and PPS are more likely placed in a single ts-packet (notice that after PES header ts-packet payload size can be really small). If SPS content is dispersed among several ts-packets (pls. bear in mind that video ts-packets can be interleaved with audio ones and consequently the next video ts-packet is not necessarily the next one).

Golomb coding assigns to smaller value fewer bits:

value=0 the codeword “0” is assigned

value=1 the codeword “010”

value=2 the codeword “011”

value=3 the codeword “00100”

value=4 the codeword “00110”

…..

Unfortunately many Golomb parameters in SPS and PPS are coded non-effective. i provide the example with SPS Golomb coded parameter – max_num_ref_frames:

in my opinion the case with max_num_ref_frames=0 (I-only streams) is not popular, however max_num_ref_frames=0 is coded with a single bit, while most popular cases max_num_ref_frames=3 or max_num_ref_frames=4 are coded with 5 bits. Thus, less popular values of max_num_ref_frames are coded with fewer bits and most popular values of max_num_ref_frames are coded with more bits. It’s definitely non-effective. 

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