CN112070650B - Watermark embedding and detecting method for panoramic image - Google Patents
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Abstract
A watermark embedding and detecting method for panoramic image, watermark embedding includes: 1. performing equal rectangular mapping from plane to sphere on one ERP panoramic image I to obtain a panoramic image I represented by a sphere s The method comprises the steps of carrying out a first treatment on the surface of the 2. Pair I s Performing three-scale spherical wavelet transformation on the brightness component to obtain three spherical wavelet transformation coefficients with different scales of the brightness component; 3. constructing a watermark image; 4. based on the equal rectangular mapping from the plane to the sphere, mapping the watermark image into a spherical image of a unit sphere, and then performing 1-scale spherical wavelet transformation to obtain a spherical wavelet transformation coefficient of the watermark image; 5. selecting a coefficient of a second scale of spherical wavelet transformation of the panoramic image, and constructing a masking matrix for watermark embedding; 6. calculating a window minimum perceived difference JND value of the airspace; 7. controlling the watermark embedding strength of the panoramic image from subjective quality based on the JND value of the minimum perceived difference of the window; 8. and carrying out spherical wavelet inverse transformation on the second scale frequency domain transformation coefficient after watermark embedding and the frequency domain transformation coefficients of other scales together to obtain a spherical panoramic image embedded with the watermark, and obtaining a planar panoramic image after equal rectangular mapping from the spherical surface to the plane.
Description
Technical Field
The invention relates to the technical field of multimedia signal processing, and particularly discloses a panoramic image watermark embedding method, a panoramic image watermark detection method and a window image watermark detection method in a panoramic image.
Background
In recent years, the development of virtual reality and computer vision technologies is rapid, and 360-degree panoramic images are popular gradually, so that an interactive and immersive experience is provided for people. With the popularity of near-eye display devices, panoramic images or videos are widely used in various industries. The importance of the copyright protection problem of panoramic images is gradually developed while the panoramic images are widely used. The image watermark can effectively control the image copy and trace the source after illegal use. Unlike planar images, panoramic images capture a scene in 360 degrees of space. In the representation format, the planar image is mapped by the spherical space image, and the planar panoramic image (equirectangular projection, ERP) can be mapped by an equal rectangle, or other mapping formats, such as a cube mapping image and the like. The format of the equal rectangular mapping plane panoramic image is most commonly used, and the invention mainly aims at embedding watermarks of the equal rectangular mapping plane panoramic image.
In view, panoramic images are mainly viewed from different viewing angles in real time through a head-mounted display device, and each displayed viewing angle is called a viewing window (viewport). The window image may sometimes be illegally preserved and used. Thus, the watermarking of the panoramic image is intended to protect not only the planar panoramic image in ERP format, but also each of the windowed images. The conventional image watermarking method is basically aimed at plane and stereo images, and the embedding method is also carried out in a plane domain or a three-dimensional data domain. They cannot adapt to the features of the interactive browsing of panoramic images.
Disclosure of Invention
In order to solve the problem, considering that the panoramic image essentially characterizes a 360-degree internal scene, the spherical surface representation of the data is more fidelity, and the spherical surface representation is a mapping between all other formats and an intermediate format in the process of mapping the spherical surface representation to a window, the invention provides a watermark embedding method aiming at the panoramic image.
The technical scheme of the invention is as follows: a watermark embedding method for a panoramic image, comprising the steps of:
step 1, performing spherical mapping on a W X H (equal rectangular mapping) format panoramic image I to obtain a spherical representation panoramic image I s Where W is the width of the image and H is the height of the image;
step 2, pair I s Performing three-scale spherical wavelet transformation on the brightness component (namely Y component) to obtain three spherical wavelet transformation coefficients with different scales of the brightness component;
step 3, constructing a watermark imageImage: watermark image I W Is an image composed of a series of pseudo-randomly generated two-dimensional arrays of-1 and +1; the pseudo-random number generation process is determined by a key seed;
the watermark image has a size ofm w And n w The number of watermark images embedded in the panoramic image in the horizontal direction and the vertical direction;
step 4, mapping the watermark image into a spherical image of a unit sphere based on the equal rectangular mapping from the plane to the sphere, and then performing 1-scale spherical wavelet transformation to obtain a spherical wavelet transformation coefficient W of the watermark image wav_y ；
Step 5, selecting a coefficient matrix of a second scale of spherical wavelet transformation of the panoramic imageConstructing a masking matrix for watermark embedding;
step 6, calculating a window minimum perceived difference JND value of the airspace;
step 7, controlling the watermark embedding strength of the panoramic image from subjective quality based on the JND value of the minimum perceived difference of the window;
step 8, transforming coefficient matrix of the second scale frequency domain after embedding watermarkCarrying out spherical wavelet inverse transformation process together with frequency domain transformation coefficient matrixes of other scales to obtain a watermark-embedded spherical panoramic video image +.>Obtaining a planar panoramic image after sphere-to-planar isorectangular mapping +.>
Further, in the step 5, further includes:
will beDividing the absolute value of each element in the matrix by a scaling factor eta, and rounding to obtain a masking matrix for watermark embedding:
watermark embedded panoramic image second scale transformation coefficient matrixThe method comprises the following steps:
wherein W is a size andthe same matrix, consisting of m w ×n w W is a number of wav_y The composition, ζ, is the control parameter of the watermark embedding strength, and the expression of the multiplication operation of the corresponding elements of the two matrices.
Further, in the step 6, the window minimum perceived difference JND value of the airspace is calculated, namely:
is the variance of the luminance component of the watermark embedding region; and Γ is y (v) is given by the following formula:
wherein the method comprises the steps ofa＝0.495，υ 0 ＝0.401，g τ The value 1.501,1,and 0.534 corresponds to the transform coefficient spectral subband +.>And->N s The number of the total scales of the panoramic image spherical wavelet transformation, namely the number of spectrum subbands, and kappa is the index of the transformation coefficient spectrum subbands.
Further, in the step 7, the controlling the watermark embedding strength of the panoramic image specifically includes:
wherein the method comprises the steps ofIs->Matrix elements at the ith row and jth column positions;
window minimum perceived difference JND value, l, which is the frequency domain w For 1,2,3 respectively correspond to transform coefficient spectral subbands +.>And->i τ For 0.621708,0.672340 and 0.730750 respectively corresponding to transform coefficient spectral subbands +.>And-> Equal to 0.788845; Γ's of' y (v) is the estimated spatial window minimum perceived difference JND value; v=r2 -κ The cycles/release is the display frequency of the HMD (head-mounted display) device, where cycles is the number of cycles, release is the spatial frequency per degree, r is the visual display distance, < >>Wherein d is v Is the viewing distance, d r Is the display resolution of the HMD.
According to another aspect of the present invention, a watermark detection method of a panoramic image in a spherical domain is provided, including the following steps:
step 1, embedding a plane panoramic image after watermarkPerforming an equirectangular mapping of plane to sphere to obtain a panoramic image represented by sphere +.>Performing spherical wavelet transformation to obtain transformation coefficient +.>Then, an inverse mask matrix calculation process is performed, i.e. & gt>Dividing the absolute value of each element by the integer eta to obtain the inverse masking matrix +.>The watermark signal is extracted from the inverse masking matrix.
Wherein the method comprises the steps ofInverse mask matrix->And->The transformation coefficient of watermark in the whole panoramic image is obtained after corresponding multiplication of each element in the panoramic image>I.e. < ->Representing matrix-corresponding element multiplication; then according to the embedding position relation of watermark in the image, extracting the spherical wavelet transformation coefficient of watermark image>
Step 2, for the spherical wavelet transform coefficient of the watermark imagePerforming spherical wavelet inverse transformation of a scale to obtain an extracted spherical watermark image, performing spherical-to-plane equal rectangular mapping on the spherical watermark image to obtain an extracted ERP-plane watermark image->
Step 3, carrying out normalized correlation calculation on the extracted ERP plane watermark image and the original ERP watermark image, wherein the original watermark image I W Is to use the same seed key as the embedding process,is an image composed of a series of pseudo-randomly generated two-dimensional arrays of-1 and +1; the watermark image has a size ofm w And n w The number of watermark images embedded in the panoramic image in the horizontal direction and the vertical direction;
and step 4, if the normalized correlation value obtained in the previous step is larger than a threshold value, the watermark is considered to exist, otherwise, the watermark is not exist.
According to another aspect of the present invention, a watermark detection method for a window image in a panoramic image is provided, including the following steps:
step 1, performing feature matching based on feature transformation (spherical SIFT) with unchanged spherical scale according to an original spherical panoramic image and a window image embedded with watermark to obtain the position of the window image in a spherical mapping format of the panoramic image, mapping the window image to a spherical surface according to the position to obtain a window partial image embedded with watermark in a spherical domain, wherein the pixel value of other areas on the spherical surface is 0;
step 2, detecting spherical domain watermark of the window image mapped on the spherical surface;
step 3, embedding an original watermark into an original spherical panoramic image according to the window position obtained in the step 1 and the watermark embedding process of the panoramic image, so as to obtain a window image embedded with the original watermark on the spherical surface, wherein only a window image part is arranged on the spherical surface, and the pixel value of other areas on the spherical surface is 0;
step 4, respectively mapping the window image of the embedded watermark of the spherical domain to be detected and the window image of the embedded original watermark of the spherical domain to ERP planes;
step 5, calculating a normalized correlation value between the window image of the watermark embedded in the ERP plane to be detected and the window image of the original watermark embedded in the ERP plane;
and step 6, if the normalized correlation value obtained in the previous step is larger than a threshold value, the watermark is considered to exist, otherwise, the watermark is not exist.
The beneficial effects are that:
the watermark embedding method for the panoramic image can extract the watermark on the planar ERP panoramic image and the window image at the same time, and plays a role in protecting copyrights of the ERP panoramic image and the window image at the same time.
Drawings
FIG. 1 is a flow chart of a watermark embedding process of a panoramic image of the present invention;
FIG. 2 illustrates a watermark detection process of a panoramic image in a spherical domain;
fig. 3 shows a watermark detection process for a windowed image of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without the inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
According to one embodiment of the present invention, as shown in fig. 1, a watermark embedding process for a panoramic image according to a watermark embedding method for a panoramic image includes the steps of:
step 1, performing spherical mapping on a W X H (equal rectangular mapping) format panoramic image I to obtain a spherical representation panoramic image I s Where W is the width of the image and H is the height of the image.
Step 2, pair I s And (3) performing spherical wavelet transformation of three scales (scale) to obtain spherical wavelet transformation coefficients of three different scales of the brightness component.
Step 3, constructing a watermark image: watermark image I W Is an image of a two-dimensional array of a series of pseudo-randomly generated-1 and +1 s. The pseudo-random number generation process is determined by a key seed.
The watermark image has a size ofm w And n w Is at the level ofThe number of watermark images embedded in the panoramic image in the direction and the vertical direction.
Step 4, mapping the watermark image into a spherical image of a unit sphere based on the equal rectangular mapping from the plane to the sphere, and then performing 1-scale spherical wavelet transformation to obtain a spherical wavelet transformation coefficient W of the watermark image wav_y 。
Step 5, selecting a frequency domain transformation coefficient matrix of a second scale of spherical wavelet transformation of the panoramic imageA masking matrix for watermark embedding is constructed. Will->The absolute value of each element in the matrix is divided by a scaling factor eta by rounding,/->A masking matrix for watermark embedding is obtained. Watermark embedded panoramic image transformation coefficient matrix
Wherein W is a size andthe same matrix, consisting of m w ×n w W is a number of wav_y The composition, ζ, is the control parameter of the watermark embedding strength, and the expression of the multiplication operation of the corresponding elements of the two matrices.
Step 6, calculating the JND value of the window minimum perceived difference of the airspace, namely Is the variance of the luminance component of the watermark embedding region. And Γ is y (v) is given by the following formula:
where a=0.495,υ 0 ＝0.401，g τ is 1.501,1 and 0.534 corresponds to the transform coefficient spectral subband +.>And->N s The number of the total scales of the panoramic image spherical wavelet transformation, namely the number of spectrum subbands, and kappa is the index of the transformation coefficient spectrum subbands.
Step 7, controlling the watermark embedding strength of the panoramic image from subjective quality based on the JND value of the minimum perceived difference of the window,
wherein the method comprises the steps ofIs->Matrix elements at the i-th row and j-th column positions. />Is the window minimum perceived difference JND value of the frequency domain. l (L) w For 1,2,3 respectively correspond to transform coefficient spectral subbands +.>Andi τ for 0.621708,0.672340 and 0.730750 correspond to transform coefficient spectral subbands, respectivelyAnd-> Equal to 0.788845 Γ' y (v) is the window minimum perceived difference JND value for the estimated airspace. V=r2 -κ The cycles/release is the display frequency of the HMD (head-mounted display) device, where cycles is the number of cycles, release is the spatial frequency per degree, r is the visual display distance, < >>Wherein d is v Is the viewing distance, d r Is the display resolution of the HMD.
Step 8, transforming coefficient matrix of the second scale frequency domain after embedding watermarkCarrying out spherical wavelet inverse transformation process together with frequency domain transformation coefficient matrixes of other scales to obtain a watermark-embedded spherical panoramic video image +.>Obtaining a planar panoramic image after sphere-to-planar isorectangular mapping +.>
According to another aspect of the present invention, the corresponding watermark detection method for panoramic images is divided into a watermark detection method of panoramic images in the spherical domain and a watermark detection method of window images.
Panoramic video is mostly viewed through a Helmet (HMD) display in the form of a real-time switched view window. Thus, the view window image is a representation format of the panoramic image, and thus, it is necessary to extract a watermark on the view window image to achieve the purpose of protecting the view window image. Meanwhile, the panoramic image can be watched through a common plane display. In this case, since the watermark is embedded in the spherical domain, the watermark can be extracted on the spherical domain of the panoramic image. Therefore, the watermark extraction and detection method for the panoramic image is divided into watermark extraction and detection of the panoramic image in the spherical domain and watermark extraction and detection of the window angle image.
As shown in fig. 2, the watermark detection method of the panoramic image in the spherical domain of the present invention includes the following steps:
step 1, embedding a plane panoramic image after watermarkPerforming an equirectangular mapping of plane to sphere to obtain a panoramic image represented by sphere +.>Performing spherical wavelet transformation to obtain transformation coefficient +.>Then, an inverse mask matrix calculation process is performed, i.e. & gt>Dividing the absolute value of each element by the integer eta to obtain the inverse masking matrix +.>The watermark signal is extracted from the inverse masking matrix.
Wherein the method comprises the steps ofInverse mask matrix->And->The transformation coefficient of watermark in the whole panoramic image is obtained after corresponding multiplication of each element in the panoramic image>I.e. < ->Representing the multiplication of matrix corresponding elements.
Further, according to the embedding position relation of the watermark in the image, extracting and obtaining the spherical wavelet transformation coefficient of the watermark image
Step 2. Spherical wavelet transform coefficient of watermark imageAnd performing one-scale spherical wavelet inverse transformation to obtain an extracted spherical watermark image. Performing sphere-to-plane equal rectangular mapping on the spherical watermark image to obtain an extracted watermark image of the ERP plane>
And 3, carrying out normalized correlation calculation on the extracted ERP plane watermark image and the original ERP watermark image. Original watermark image I W The same seed key as the embedding process is used, and the image is composed of a two-dimensional array consisting of a series of pseudo-randomly generated-1 and +1. The watermark image has a size ofm w And n w Is the number of watermark images embedded in the panoramic image in the horizontal direction and the vertical direction.
And step 4, if the normalized correlation value obtained in the previous step is larger than a threshold value, the watermark is considered to exist, otherwise, the watermark is not exist.
According to an embodiment of the present invention, as shown in fig. 3, a watermark detection method for a window image in a panoramic image includes the following steps:
and step 1, performing feature matching based on spherical scale invariant feature transform (spherical SIFT) according to the original spherical panoramic image and the window image embedded with the watermark to obtain the position of the window image in the spherical mapping format of the panoramic image. And mapping the window image to the spherical surface according to the position to obtain the embedded watermark window partial image of the spherical surface domain (the pixel value of other areas on the spherical surface is 0).
Step 2, performing sphere domain watermark detection on the window image mapped on the sphere (step 1 of the panoramic image in sphere domain detection process)
Step 3, embedding an original watermark into the original spherical panoramic image according to the watermark embedding process of the panoramic image according to the window position obtained in the step 1, so as to obtain a window image (only the window image, and the pixel values of other areas on the spherical surface are 0) embedded with the original watermark on the spherical surface
And 4, respectively mapping the window image of the embedded watermark of the spherical domain to be detected and the window image of the embedded original watermark of the spherical domain to an ERP plane.
And 5, calculating a normalized correlation value between the window image of the watermark embedded in the ERP plane to be detected and the window image of the original watermark embedded in the ERP plane.
And step 6, if the normalized correlation value obtained in the previous step is larger than a threshold value, the watermark is considered to exist, otherwise, the watermark is not exist.
While the foregoing has been described in relation to illustrative embodiments thereof, so as to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but is to be construed as limited to the spirit and scope of the invention as defined and defined by the appended claims, as long as various changes are apparent to those skilled in the art, all within the scope of which the invention is defined by the appended claims.
Claims (2)
1. A watermark embedding method for a panoramic image, comprising the steps of:
step 1, performing spherical mapping on a W multiplied by H equal-rectangular mapping ERP format panoramic image I to obtain a spherical representation panoramic image I s Where W is the width of the image and H is the height of the image;
step 2, pair I s Performing three-scale spherical wavelet transformation on the brightness component to obtain three spherical wavelet transformation coefficients with different scales of the brightness component;
step 3, constructing a watermark image: watermark image I W Is an image composed of a series of pseudo-randomly generated two-dimensional arrays of-1 and +1; the pseudo-random number generation process is determined by a key seed;
the watermark image has a size ofm w And n w The number of watermark images embedded in the panoramic image in the horizontal direction and the vertical direction;
step 4, mapping the watermark image into a spherical image of a unit sphere based on the equal rectangular mapping from the plane to the sphere, and then performing 1-scale spherical wavelet transformation to obtain a spherical wavelet transformation coefficient W of the watermark image wav_y ；
Step 5, selecting a frequency domain transformation coefficient matrix of a second scale of spherical wavelet transformation of the panoramic imageConstructing a masking matrix for watermark embedding;
step 6, calculating a window minimum perceived difference JND value of the airspace; in the step 6, the window minimum perceived difference JND value of the airspace is calculated, namely:
is the variance of the luminance component of the watermark embedding region; and Γ is y (v) is given by the following formula:
where a=0.495,υ 0 ＝0.401，g τ is 1.501,1 and 0.534, corresponds to the transform coefficient spectral subband +.>And->N s The number of the total scale of the panoramic image spherical wavelet transformation, namely the number of spectrum sub-bands, and kappa is the index of the transformation coefficient spectrum sub-bands;
step 7, controlling the watermark embedding strength of the panoramic image from subjective quality based on the JND value of the minimum perceived difference of the window; in the step 7, controlling the watermark embedding strength of the panoramic image specifically includes:
wherein the method comprises the steps ofIs->Middle (f)Matrix elements in i row and j column positions;
window minimum perceived difference JND value, l, which is the frequency domain w For 1,2,3 respectively correspond to transform coefficient spectral subbands +.>And->i τ For 0.621708,0.672340 and 0.730750 respectively corresponding to transform coefficient spectral subbands +.>And-> Equal to 0.788845; Γ's of' y (v) is the window minimum perceived difference JND value for the estimated airspace; v=r2 -κ The cycles/release is the display frequency of the HMD (head-mounted display) device, where cycles is the number of cycles, release is the spatial frequency per degree, r is the visual display distance, < >>Wherein d is v Is the viewing distance, d r Display resolution for HMD;
step 8, transforming coefficient matrix of the second scale frequency domain after embedding watermarkCarrying out spherical wavelet inverse transformation process together with frequency domain transformation coefficient matrixes of other scales to obtain a watermark-embedded spherical panoramic video image +.>Obtaining a planar panoramic image after sphere-to-planar isorectangular mapping +.>
2. The watermark embedding method for panoramic images according to claim 1, wherein in step 5, further comprising:
will beDividing the absolute value of each element in the matrix by a scaling factor eta, and rounding to obtain a masking matrix for watermark embedding:
watermark embedded panoramic image second scale transformation coefficient matrixThe method comprises the following steps:
wherein W is a size andthe same matrix, consisting of m w ×n w W is a number of wav_y The composition, ζ, is the control parameter of the watermark embedding strength, and the expression of the multiplication operation of the corresponding elements of the two matrices.
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