MPEG-2 Elementary Stream
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A elementary Stream can contain Audio Data, Video Data, Control Signals or arbitrary digital Data.
For transmission over networks or Storage on DVDs Elementary Streams are usually packetized and multiplexed into MPEG2 Transport Streams or MPEG2 Program Streams.
Data format of MPEG2 elementary audio and video streams is specified in the MPEG standard and the DVB Standard. See there for Details.