Redundant picture is one of H.264/AVC tools for increasing error resiliency when video is delivered over error prone environments. In this paper, we present a modified loss-aware rate-distortion optimization (LA-RDO) model considering overhead bits and loss rate of redundant coded pictures. Based on the proposed RD model, we determine whether each redundant picture is inserted, or not. Simulation results showed that our proposed method improved the average PSNR around 0.5 dB compared to hierarchical redundant picture (HRP). Our method works especially well at low-bitrate, so the method can be applied to low-bitrate wireless transmission environments.