CN1471019A - Digital waterprint imbedding and extracting method based on remainder image - Google Patents
Digital waterprint imbedding and extracting method based on remainder image Download PDFInfo
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- CN1471019A CN1471019A CNA031295347A CN03129534A CN1471019A CN 1471019 A CN1471019 A CN 1471019A CN A031295347 A CNA031295347 A CN A031295347A CN 03129534 A CN03129534 A CN 03129534A CN 1471019 A CN1471019 A CN 1471019A
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Abstract
The image partitioned to small pieces in space domain and each small pieces scrambled by using chaos mapping are carried out. Carrier image data in each piece is decomposed into 'residual image block' and 'quotient image block'. Watermark information is encrypted and carried out direct sequence spread spectrum by using chaos sequence. The processed watermark information is embedded to the 'residual image block'. After processing the data of crossing the border, each 'residual image block' and corresponding 'quotient image block' is assembled. The image with the watermark embedded is obtained by assembling each anti-scrambled block with chaos mapping. When picking-up watermark, the cryptic watermark information is recovered after operations of scrambling, demodulating and threshold decision are carried out.
Description
Technical field:
The present invention relates to a kind of digital watermarking embedding and extracting method based on the remainder image, is the copyright authentication that is applicable to digital picture and video product, the digital watermark method in low error rate data hidden field.
Background technology:
Along with popularizing of computing machine and Internet technology, digital watermark technology is paid close attention to widely, and it mainly contains following a few class and uses.The one, be used for copyright authentication, digital signature etc.By some significant information directly being embedded in the middle of the content of multimedia, but do not influence the value and the use of raw content, and can not be perceiveed by people's consciousness system or notice.Watermark information can be the author sequence number, corporate logo, the information such as text of Special Significance are arranged.On the other hand, the development and the data hiding technique of digital watermark technology are closely related, can transmit sensitive data by embed watermark information in Digital Media.The watermark information of this moment is exactly the sensitive data that will be transmitted, and Digital Media has just become carrier.This class is used has great disguise and security, thereby can obtain more application aspect military communication.In video system, even can transmit audio frequency, captions, form and synchronizing information etc. with digital watermark technology, this will have potential application in the DVD delivery system.Which kind of method no matter, in order to increase the difficulty of removing watermark to the assailant, present most of watermark production program all is used in combination with encryption system in the cryptography, and in the embedding of watermark, adopt a group key when extracting, even several key guarantees the security of system.
Usually, the design of digital watermarking will be considered the following aspects: invisibility, i.e. and the introducing of watermark information is very little to the influence of medium such as image, also guarantees simultaneously the availability of medium itself, and human eye is observed the difference that is difficult to find out with raw data.Robustness, watermark must be attacked general signal processing operations (as making an uproar, shear, strengthen, have distortion compression etc.), deletion, fascination is attacked etc. has robustness; Unless digital watermarking is had enough prioris, any replacement and the attempt of eliminating watermark are all with the quality of havoc multimedia messages.Security, even watermarking algorithm is open, it can prevent that equally unauthorized group from removing watermark or adding the watermark of a vacation, this point is guaranteed by secret key system usually.Hide ability, it is meant under the precondition that does not influence picture quality, the bit error rate of watermark data in the time of adding the quantity of information of watermark and extraction, and the application of this point aspect data hidden especially valued.
In the existing digital watermark method, two typical algorithms are arranged:
Schyndel algorithm (least significant bit (LSB) algorithm LSB, reference: Van Schyndel, R.G; Tirkel, A.Z.; Osborne, C.E.: ' A digital watermark, ' Image Processing, Proc.ICIP-94.Nov.1994.PP:86-90 vol.2).It is considered to a kind of important watermarking algorithm, it at first produces watermark signal to m-sequencer of a key input, then this m-sequence is rearranged into 2 dimension watermark signals, and is inserted into the lowest order of original image gray-scale value by picture element one by one.Because watermark signal has been arranged on the lowest order, it is sightless, and based on same reason, it can be removed easily, also is not strong therefore; Though it has bigger Information hiding amount, as digital watermarking algorithm, this algorithm is because of its ultimate principle restriction, and the digital watermark information of being hidden is very fragile, can't stand some harmless and diminish signal Processing.
Hartung algorithm (reference: Hartung, E.; B.Girod: ' Digital Watermarking ofMEPEG-2 Coded Video in the Bitsstream Domain, ' in Proceeding of the IEEEInternational Conference on Acoustics, Speech and Signal Processing, Vol.4, Munich, Germany, Apr.1997, pp.2621-2624) be a kind of spatial domain spread spectrum digital watermarking algorithm that is applicable to image/video, this algorithm at first carries out the scale-of-two watermark information in sampling, produce carrying component (pixel with image-carrier, DCT coefficient etc.) isometric spread-spectrum watermark sequence produces the image that added watermark with the watermark sequence behind this spread spectrum with the corresponding carrying component addition of carrier then.When watermark extracting, detect, and enter a judgement, recover the scale-of-two watermark information by a correlator.Different with the Schyndel algorithmic method, the Hartung algorithm is by to embedding behind the watermark information spread spectrum again, thereby watermark energy is distributed to bigger frequency band range, thereby has robustness and security preferably.But the Hartung algorithm is based on the carrier image statistical distribution, relative watermark data, and carrier image/video data is counted as " noise "; Therefore, even do not have when under attack at carrier image, also can there be higher bit error rate in the watermark of extraction because of these " noises ".
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, propose a kind of digital watermarking embedding and extracting method, effectively improve the reliability of watermark data, make the watermark of extraction have the extremely low bit error rate based on the remainder image.
For realizing such purpose, method of the present invention at first is divided into image and the as many fritter of scale-of-two watermark data amount in spatial domain, the corresponding watermark bit of each fritter, utilize chaotic maps that each fritter is carried out scramble in the piece, carrier image data in every fritter are broken down into " remainder image block " and " quotient images piece ", utilize chaos sequence that watermark information is encrypted and direct sequence spread spectrum, the watermark information behind the spread spectrum is embedded in the correspondence " remainder image block " of image; In " remainder image block " to crossing the border after the data processing with each " remainder image block " and corresponding " quotient images piece " assembling, utilize chaotic maps carry out being inverted in the piece disorderly and each piece assembled after obtain image behind the embed watermark.During watermark extracting, order when embedding according to watermark is carried out scramble in the piece with image block and with chaos, try to achieve corresponding " remainder image block ", the detection sequence that generates with chaotic maps is carried out correlation demodulation and is carried out threshold judgement " remainder image block " then, and the encrypted watermark that obtains recovers hiding watermark information after deciphering with chaotic maps.
Concrete steps of the present invention comprise:
1, obtains chaotic maps parameter and initial value according to the authoring system key, produce three groups of chaos random seriess, be designated as PN1 successively, PN2 and PN3.Wherein, the pixel count M of the length of sequence PN1 and PN3 and carrier image
1* M
2Equate that the length of sequence PN2 equates with the bit number W of watermark data.
2, the encryption of image block scramble, watermark data and spread spectrum: carrier image M
1* M
2Pixel is divided into watermark bit counts the as many fritter of W, and every block size is N
1* N
2Pixel; Sequence PN1 is arranged in the M consistent with the carrier image shape
1* M
2Matrix, and resolve into N
1* N
2The fritter of size.Be that (i, element value j) is binary expansion log after radix point with the piece internal coordinate
2(N
1N
2) position, get log successively
2(N
1) and log
2(N
2) position forms a coordinate to (c
x(i), c
y(j)).Successively to (i, j) coordinate place and (c in each image block
x(i), c
y(j)) the pixel transposition at coordinate place is realized scramble in the carrier image piece.With chaos sequence PN2 be quantized into general binary sequence such as 0/1 grade and with scale-of-two watermark data XOR, finish encryption to watermark data.The pseudo-random sequence that chaos sequence PN3 is quantized into zero-mean is as the band spectrum modulation sequence, and with the watermark bit of encrypting by { 0,1} is mapped to that { 1 ,+1} carries out watermark information after direct sequence spread spectrum obtains spread spectrum with the random series PN3 after the quantification to it.
3, digital watermarking embeds: watermark bit of the corresponding embedding of the carrier image piece behind each scramble, and with each fritter mould m
1Resolve into " remainder image block " and " quotient images piece ", be multiplied by behind the watermark strength and corresponding " remainder image block " addition encrypting watermark behind the spread spectrum, and through mould m
1In to surpass [0, m
1-1] value is revised, and be inverted in piece unrest and piece assembly operation of " remainder image block " and corresponding " quotient images piece " obtained the carrier image that watermark is crossed in embedding.Wherein, mould m
1Choose round values less than gray shade scale 256.
4, watermark extracting.Utilize chaotic maps the image of the embed watermark of the receiving process mode piecemeal scramble identical, according to the appropriate delivery m of channel situation according to authorization key with the embedding stage
2Obtain corresponding " remainder image block ",, carry out related operation and adjudicate, draw the watermark data of encryption with this detection sequence and each " remainder image block " according to the detection sequence of key recovery band spectrum modulation sequence as receiver; At last, generate decrypted sequences with chaotic maps, the watermark information that obtains embedding after watermark information is decrypted according to key.Wherein, mould m
2Choose in two kinds of situation: if do not polluted in the carrier image issuing process, then get m
2=m
1, otherwise m
2Get 256, have good robustness like this.
The present invention utilizes the character of chaotic maps that original image is carried out the piecemeal scramble, and watermark information is encrypted with chaos sequence, produce band spectrum modulation sequence (comprise and detect sequence) with chaotic maps simultaneously, simply and easily understand, the distribution of secret key and management are also comparatively convenient, make watermaking system have higher security.Watermark information embeds and extracts and all carry out in carrier image " remainder image block ", it has effectively reduced the variance of the carrier image of actual use, because the bit error rate of watermark extracting is directly proportional with the variance of carrier image, can reduce to extract the bit error rate of watermark data significantly again.
The new image watermark that the present invention proposes embeds and extracting method, is specially adapted to the copyright authentication of digital picture product and the data hidden in the video media.
Description of drawings:
Fig. 1 embeds the algorithm flow block diagram for digital watermarking of the present invention.
Fig. 2 is a digital watermarking extraction algorithm FB(flow block) of the present invention.
Fig. 3 (a) initial carrier image " Lena " figure, (b) watermark (bianry image), (c) image (d) encrypted watermark behind the scramble in the 8*8 piece, (e) image of watermark and the watermark of extraction are crossed in embedding, (f) image after the noise pollution and extraction watermark.
Fig. 4 the inventive method is extracted the empirical curve of the watermark bit error rate.
Embodiment:
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.Method of the present invention mainly comprises the image block scramble, watermark encrypting and spread spectrum, watermark embedding and watermark extracting.Consideration is at a width of cloth M
1* M
2Carry out watermark in the gray level image of pixel and embed and extract, watermark data is the bianry image of W bit, and method is undertaken by following concrete steps;
1, the present invention adopts chaotic maps to generate encryption and band spectrum modulation that chaos sequence is finished image scrambling and watermark.Chaos is a particular solution of nonlinear equation (group), and exporting at random by an equation (group) of determining of it determines.The present invention can control one group about the parameter of chaos system and they are used as is the key of whole watermaking system.Studies show that many than traditional method safety of the random series that produces with chaos.Consider as next class chaotic maps:
Z
n+1＝f(α，Z
n)z
n∈[-1，1]
Wherein, appropriately choose parameter alpha and then shine upon the generation chaos phenomenon, at this moment initial value z
0Small change will produce diverse sequence; If know initial value z
0Just can accurately recover this sequence with parameter alpha, otherwise anyone can't obtain this sequence, therefore can be with initial value z
0Control as secret key with parameter alpha, thus the security of the system of assurance.With reference to Fig. 1, generate three groups of sequences according to authorizing with chaotic maps, note is made PN1, PN2 and PN3 respectively; Wherein, the pixel count M of the length of sequence PN1 and PN3 and carrier image
1* M
2Equate that the length of sequence PN2 equates with the bit number W of watermark data.
2, the encryption of image block scramble, watermark data and spread spectrum are with reference to Fig. 1.Image block scramble: carrier image M
1* M
2Pixel is divided into watermark bit counts the as many fritter of W, and every block size is N
1* N
2Then there is relation in pixel: W=(M
1* M
2)/(N
1* N
2); Sequence PN1 is arranged in the M consistent with the carrier image shape
1* M
2Matrix resolves into N equally
1* N
2The fritter of size is that (i, element value j) is binary expansion log after radix point with the piece internal coordinate
2(N
1N
2) position, get log successively
2(N
1) and log
2(N
2) position is launched into decimal number and is designated as c respectively
x(i) and c
y(j), then obtain a coordinate to (C
x(i), C
y(j)), 0≤i≤N here
1, 0≤j≤N
2In each image block, according to i: 0 → N
1-1, j: 0 → N
2-1 order is successively to (i, j) coordinate place and (c in the carrier image piece
x(i), c
y(j)) the pixel transposition at coordinate place is realized the scramble of carrier image at each fritter interior pixel.When each pixel reverts to original arrangement behind the scramble in need be with image block, can adopt opposite order to carry out pixel in the piece and exchange and obtain the normal picture piece, this process is called the unrest that is inverted in the piece.With chaos sequence PN2 be quantized into general binary sequence (ciphering sequence) such as 0/1 grade and with scale-of-two watermark data XOR (scale-of-two and) computing, finish encryption to watermark data; Watermark and ciphering sequence that the deciphering of watermark only needs to encrypt carry out the watermark that a time XOR can obtain deciphering again.Watermark spread spectrum (modulation): with M
1* M
2The chaos sequence PN3 of length is quantized into the pseudo-random sequence of zero-mean as the band spectrum modulation sequence.And with the watermark bit of encrypting by { 0,1} is mapped to that { 1 ,+1} samples with the encrypted watermark of the random series PN3 after quantizing after to mapping again and to finish the band spectrum modulation of watermark, and the length of sampled sequence again of the watermark bit after corresponding each encryption is (M
1* M
2÷ W)=N
1* N
2For example, certain encrypted watermark bit is 0, then with the N of correspondence
1* N
2The pseudo-random sequence section of length multiply by-1 as the sequence behind this bit watermark spread spectrum, and the encrypted watermark bit is 1 else if, then directly with corresponding N
1* N
2The sequence of the pseudo-random sequence section of length after as this bit watermark band spectrum modulation carried out the band spectrum modulation that watermark is finished in this sampling to each encrypted watermark bit, and the sequence that obtains behind the spread spectrum is designated as ω (n).In order to produce PN1, the chaotic maps initial value z of PN2 and PN3 sequence
0To protect as key with parameter alpha.
3, watermark embeds: to each pixel count is N
1* N
2The scramble image block, determine mould m
1Be broken down into following two parts:
Perhaps write as G=G
Quo+ G
Rem, G
RemAnd G
QuoBe called " remainder image block " and " quotient images piece ", wherein m=m respectively
1The spread-spectrum watermark ω (n) that encrypts be multiply by behind the watermark strength λ and " remainder image block " G
RemSimply add, consider that again the adding of ω (n) may make G
RemThe value of some point exceeds the scope of modular field [0, m-1], therefore will revise these points, and the present invention adopts these methods of a little getting back to the value before revising of crossing the border are revised.Revised " remainder image block " and corresponding " quotient images piece " addition generation embedding are crossed the scramble image block of watermark, these scramble image blocks are carried out the unrest that is inverted in the piece, and each the image block assembling after will being inverted disorderly obtains the carrier image that watermark is crossed in embedding, thereby realize the embedding of watermark, with reference to Fig. 1.Generally speaking, mould m
1Choose much smaller than the round values of gray shade scale 256,, can make " remainder image block " G like this as 8 etc.
RemVariance be far smaller than the variance of the fast G of image, the bit error rate of watermark will be high more during the big more then watermark extracting of the variance of carrier data.
4, watermark extracting, with reference to figure 2: at first use chaotic maps that carrier image is carried out the piecemeal scramble according to authorizing to adopt with similar mode of embedding stage, the image block size is N behind the scramble
1* N
2Determine mould m
2, obtain the carrier image piece at mould m
2Under " remainder image block " G
RemThe random series that generates the PN3 sequence and be quantized into zero-mean with chaotic maps resolves into and corresponding each " remainder image block " G with this despreading sequence as the despreading sequence
RemThe pseudo-random sequence section, each segment length is N
1* N
2In each piece, use random series section and G
RemCarry out related operation, then obtain extracting in each piece the judgement amount ζ of watermark.According to maximum-likelihood criterion,, determine decision threshold (getting 0 among the present invention) according to the prior probability of encrypted watermark: if ζ＞0 then judge that the encrypted watermark data that embed in this piece are 1, otherwise be 0, thereby extract the encrypted watermark data.At last, obtain the PN2 sequence and be quantized into decrypted sequences, carry out XOR with encrypted watermark and realize deciphering, recover watermark information according to chaos sequence.Mould m
2Choose in two kinds of situation: if do not polluted in the carrier image issuing process, then get m
2=m
1, otherwise m
2Get 256, have good robustness like this.
Embodiment:
If original image is standard " Lena ", as Fig. 3 (a), size is 512 * 512, and binary watermarking is 64 * 64 Bit data images, as Fig. 3 (b), watermark strength λ=2.
Adopt following unlimited folding sequence of iterations mapping (reference: Di He, Chen He, Ling-ge Jiang, Hong-wen Zhu and Guang-rui Hu.Chaotic Characteristics of a One-dimensionalIterative Map with Infinite Collapses.IEEE Transactions on Circuits and System-I:Fundamental Theory and Applications, Vol.48, No.7, July 2001:pp.900～906):
z
n∈ [1,1]; N=0,1 ...; Initial value z is appropriately chosen in α ≠ 0
0≠ 0 and parameter alpha, generate three groups of secret key PN1, PN2 and PN3 are respectively applied for the piecemeal scramble of " Lena " image, the encryption of watermark data, the spread spectrum of watermark data, chaotic maps initial value z
0Manage as key with parameter alpha and distribute." Lena " picture breakdown is divided into the result of scramble behind 8 * 8 the fritter shown in Fig. 3 (c), and the watermarking images after encrypting with PN2 is shown in Fig. 3 (d).
When watermark embeds, with each 8 * 8 fritter carrier data delivery m behind the piecemeal scramble
1=8 " the remainder image block " that resolves into and " quotient images pieces ", with the addition respectively of the encrypted watermark tract after " remainder image block " and the band spectrum modulation, and at modular field [0,7] in the scope out-of range number strong point is revised, the pixel value that surpasses the position of this scope is got back to watermark embedding value before; Then these " remainder image blocks " and corresponding " quotient images piece " are assembled into the image block of scramble, these scramble image blocks are carried out in the piece assembling obtains the carrier image that watermark is crossed in embedding after the decommutation, realize the embedding of watermark.
When watermark extracting, whether carrier image is contaminated in issuing process, and this patent is considered two kinds of situations: pollution-free and contaminated, and carry out watermark extracting two kinds of situations respectively.According to authorizing secret key that carrier image " Lena " figure that receives is carried out the piecemeal scramble, delivery m when carrier image is not comtaminated
2=m
1=8 otherwise get m
2=256 try to achieve " the remainder image block " of each 8 * 8 scramble image block.Recover the despreading sequence of zero-mean with chaos sequence according to authorization key, and the length that resolves into corresponding each " remainder image block " is 8 * 8 pseudo-random sequence section, in each piece, use the relevant summation of random series section with " remainder image block ", then obtain the judgement amount ζ of embed watermark in this piece, get the watermark data that 0 pair of ζ judgement of thresholding obtains encrypting.At last, according to authorizing secret key to recover the chaos decode sequence, carry out XOR with encrypted watermark and realize deciphering, thereby recover watermark information.
Fig. 3 (e) provides the image (m that watermark is crossed in embedding
1=8) and the watermark (m that extracts
2=8), image and original image that watermark is crossed in embedding do not have vision difference, and (Peak Signal-to-Noise Ratio PSNR) has good invisibility for 43.3602dB shows the watermark that the present invention embeds to its Y-PSNR; Simultaneously the watermark bit error rate of Ti Quing (Bit Error Ratio, BER) very low, be 0 here.Fig. 3 (f) is through the image after the noise pollution and the watermark of extraction, and signal to noise ratio (S/N ratio) PSNR=27.9386dB is put at the peak that pollutes before the back image pollutes relatively, and this moment, image seemed obviously to feel under the weather, but the watermark (m that therefrom extracts
2=256) still can not have the differentiation watermark content of ambiguous, show that method of the present invention also has higher robustness.
Fig. 4 provides the performance result relatively of the inventive method and classic method (as people's such as Hartung method), provides the present invention simultaneously and adopts different mould m
1Ask " remainder image block " to carry out under the watermark embedding situation, extract the bit error rate of watermark.As seen, compare with classic method, method of the present invention can obtain the littler watermark extracting bit error rate, less mould m
1The bit error rate compares m under the situation
1Littler under the big situation.
Claims (1)
1, a kind of digital watermarking embedding and extracting method based on the remainder image is characterized in that comprising following concrete steps:
1) obtain chaotic maps parameter and initial value according to the authoring system key, produce three groups of chaos random seriess, be designated as PN1 successively, PN2 and PN3, wherein, the pixel count M of the length of sequence PN1 and PN3 and carrier image
1* M
2Equate that the length of sequence PN2 equates with the bit number W of watermark data;
2) encryption of image block scramble, watermark data and spread spectrum: with carrier image M
1* M
2Pixel is divided into watermark bit counts the as many fritter of W, and every block size is N
1* N
2Pixel is arranged in the M consistent with the carrier image shape with sequence PN1
1* M
2Matrix, and resolve into N
1* N
2The fritter of size is that (i, element value j) is binary expansion log after radix point with the piece internal coordinate
2(N
1N
2) position, get log successively
2(N
1) and log
2(N
2) position forms a coordinate to (c
x(i), c
y(j)), successively to (i, j) coordinate place and (c in each image block
x(i), c
y(j)) the pixel transposition at coordinate place, realize scramble in the carrier image piece, chaos sequence PN2 is quantized into general binary sequence such as 0/1 grade, and with scale-of-two watermark data XOR, finish encryption to watermark data, the pseudo-random sequence that chaos sequence PN3 is quantized into zero-mean is as the band spectrum modulation sequence, and with the watermark bit of encrypting by { 0,1} is mapped to that { 1 ,+1} carries out watermark information after direct sequence spread spectrum obtains spread spectrum with the random series PN3 after quantizing to it;
3) digital watermarking embeds: watermark bit of the corresponding embedding of the carrier image piece behind each scramble, and with each fritter mould m
1Resolve into " remainder image block " and " quotient images piece ", be multiplied by behind the watermark strength and corresponding " remainder image block " addition encrypting watermark behind the spread spectrum, and through mould m
1In to surpass [0, m
1-1] value is revised, and be inverted in piece unrest and piece assembly operation of " remainder image block " and corresponding " quotient images piece " obtained the carrier image that watermark is crossed in embedding, wherein, and mould m
1Choose round values less than gray shade scale 256;
4) watermark extracting: utilize chaotic maps the image of the embed watermark of the receiving process mode piecemeal scramble identical according to authorization key, choose mould m according to channel situation with the embedding stage
2Obtain corresponding " remainder image block ",, carry out related operation and adjudicate, draw the watermark data of encryption with this detection sequence and each " remainder image block " according to the detection sequence of key recovery band spectrum modulation sequence as receiver; At last, generate decrypted sequences with chaotic maps according to key, the watermark information that obtains embedding after watermark information is decrypted, wherein, mould m
2Choose in two kinds of situation: do not polluted in the carrier image issuing process, then got m
2=m
1, otherwise m
2Get 256.
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