All the "homicide" designation tells us is that the person died from an act performed by someone other than themselves. Homicide does not automatically translate into murder, nor does it automatically mean that the homicidal act was illegal.

If you are driving down the street, going the speed limit and a child runs out into the road and is struck and killed by your car, that is a homicide. However, if you are found to have been following all of the traffic laws and were not otherwise distracted by cell phones, etc. that is an Excusable Homicide and you are not found to be at fault for the child's death.

The same potentially applies here. If the officers are found to have followed police protocols properly and by the books (including the appropriate application of the restraint), then this is an Excusable Homicide. However, there is some level of judgement involved here so I figure there will still be a conviction of negligence for continuing to place the restraint on Floyd for an extended period of time that may have been excessive.