CN115311119B - Three-dimensional image zero watermark embedding and extracting method capable of resisting geometric attack - Google Patents
Three-dimensional image zero watermark embedding and extracting method capable of resisting geometric attack Download PDFInfo
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Abstract
The invention provides a geometric attack resistant stereo image zero watermark embedding and extracting method, which comprises the steps of respectively carrying out R, G, B channel separation on a left viewpoint and a right viewpoint of an original color stereo image, combining six separated components and regarding the six components as a third-order tensor to carry out Tucker decomposition, and obtaining a first energy diagram containing correlation of the left viewpoint and the right viewpoint and correlation among R, G, B channels in the left viewpoint and the right viewpoint; then, on the basis of the energy diagram, a binary robust feature matrix is constructed by calculating fractional order Jacobian-Fourier matrix; and finally, carrying out exclusive OR operation on the original copyright watermark subjected to double scrambling and encryption and the feature matrix subjected to redundancy expansion and sequencing scrambling, thereby realizing the embedding of the zero watermark. The method has good robustness for resisting common multiple image processing attacks such as noise addition, filtering, JPEG compression, shearing, rotation, scaling and translation geometric attack and the like, and has effectiveness and certain practical value.
Description
Technical Field
The embodiment of the invention relates to the technical field of image processing, in particular to a geometric attack resistant three-dimensional image zero watermark embedding and extracting method.
Background
With the rapid development of the internet and the convenient access of digital devices, stereoscopic images may become targets for illegal copying and redistribution by illegal persons. As an effective mechanism for multimedia copyright authentication, digital watermarking technology has been widely studied, which is to embed some secret information (such as a logo, some text or identifier, etc.) in a carrier image, and to perform ownership authentication on an image work by retrieving the information if necessary. However, the embedding of the secret information will inevitably affect the image content of the carrier, thereby causing image distortion. To solve this problem, a zero-watermark scheme is proposed, which uses the inherent features of the carrier image to construct the watermark, and this process does not make any modification to the image content, so the zero-watermark technique is very suitable for the copyright protection of the image.
At present, the research on the two-dimensional plane image watermarking algorithm is mature, however, the method is not applicable to a stereo image at all, and compared with the two-dimensional plane image, a binocular stereo image consists of a left view point image and a right view point image.
Disclosure of Invention
The embodiment of the invention provides a geometric attack resistant stereo image zero watermark embedding and extracting method, which aims to solve the technical problems of low robustness and poor geometric attack resistance of a stereo image zero watermark technology in the prior art.
The embodiment of the invention provides a geometric attack resistant three-dimensional image zero watermark embedding and extracting method, which comprises the following steps:
embedding a zero watermark in an original color stereo image and extracting the zero watermark from the color stereo image to be authenticated;
the embedding of the zero watermark in the original color stereo image comprises the following steps:
original binary copyright watermark by adopting image scrambling method based on matrix transformationWScrambling is carried out to obtain a watermark image after primary scramblingW 1 Adopting image scrambling method based on complete Latin square to watermark imageW 1 Scrambling again to obtain the watermark image after secondary scramblingW 2 And (3) utilizing a two-dimensional Chebyshev-Singer Map system to perform secondary scrambling on the watermark imageW 2 Chaotic encryption is carried out to obtain a watermark image after double scrambling and encryption processingW E ；
For original stereo imageIThe R, G, B channels of the left viewpoint and the right viewpoint are separated, the six separated components are combined to form a third-order tensorE LR (ii) a To tensorE LR Performing Tucker decomposition to obtain original stereo imageIFirst energy diagram ofE M ；
To pairE M Non-overlapping blocks are divided and the mean value of each sub-block is calculated, and the mean value of all sub-blocks is constructedE M Mean subgraph ofE MS ；
Computed mean subgraphE MS And generating a hybrid low-order moment feature thereofV M ；
For mixed low order moment featuresV M Carrying out binarization according to the mean value to obtain a binary sequenceHFor the binary sequenceHPerforming ascending dimension transformation to obtain a binary transition matrixP 1 To the transition matrixP 1 Redundancy and expansion to obtain a binary robust feature matrixT；
To binary robust feature matrixTChaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT S ；
Watermark image after double scrambling and encryption processingW E And the feature matrix after scramblingT S Executing XOR operation to obtain the final authentication zero watermarkW Z Will beW Z Storing the zero watermark in a watermark database of a registration organization, and storing a secret key in the zero watermark embedding process, namely completing the zero watermark embedding process;
the zero watermark extraction of the color stereo image to be authenticated for legality comprises the following steps:
stereo image to be authenticatedI′Separating the R, G, B channels of the left viewpoint and the right viewpoint respectively, combining the six separated components and constructing a third-order tensorE′ LR (ii) a Then to tensorE′ LR Performing Tucker decomposition to obtain a stereo image to be authenticatedI′First energy diagram ofE′ M ；
To pairE′ M Non-overlapping blocks are divided and the mean value of each sub-block is calculated, then constructed from the mean values of all sub-blocksE′ M Mean subgraphE′ MS ；
Computed mean subgraphE′ MS And generating mixed low-order moment features thereofV′ M ；
For mixed low order moment featuresV′ M Carrying out binarization according to the mean value to obtain a binary sequenceH′Then for the binary sequenceH′Performing ascending dimension transformation to obtain a binary transition matrixP′ 1 For transition matrixP′ 1 Redundancy and expansion to obtain a binary robust feature matrixT′；
To binary robust feature matrixT′Chaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT′ S ；
Taking out the authentication zero watermark stored in the copyright identification database of the registration authorityW Z And the feature matrix after scramblingT′ S Performing exclusive OR operation to obtain undecrypted binary watermark imageW′ E ；
For undecrypted watermark imageW′ E Sequentially carrying out chaotic decryption and two successive anti-scrambling operations based on complete Latin square and matrix transformation to extract final watermark informationW', finally according toW' displayed content information to authenticate color stereoscopic image to be authenticatedI′Copyright attribution;
obtaining an original stereo imageIFirst energy diagram ofE M The method comprises the following steps:
one group of the sizes isM×NThe double-viewpoint color stereo imageIThe R, G, B channels of the left viewpoint and the right viewpoint are separated, and the six separated components are combined and regarded as a third-order tensorE LR Subjecting it to Tucker decomposition to obtain stereo imageIIt can be expressed as follows,
in the formulaE LR Representing stereo images in tensor formI，
The tensor of the core is represented,V (1) 、V (2) 、V (3) are 3 in sizeM×M、N×NAnd a factor matrix of 6 x 6, the number of which is set
Is tensorE LR A sub-tensor of
Tensor of expression
To (1) aiLayer, then layer 1 subgraph Z 1 Namely a first energy diagram after Tucker decomposition of the stereo imageE M 。
According to the method for embedding and extracting the zero watermark of the three-dimensional image resisting the geometric attack, provided by the embodiment of the invention, the first energy diagram of the three-dimensional image is obtained by using Tucker decomposition, so that the energy diagram not only contains the correlation between the left viewpoint and the right viewpoint of the three-dimensional image, but also keeps the correlation between R, G, B three channels in the two viewpoints, the robustness of a three-dimensional image zero watermark algorithm can be effectively improved, and the zero watermark is constructed by adopting fractional Jacobian-Fourier matrix low-order mixed matrix characteristics based on the obtained energy diagram, so that the timeliness, the robustness and the geometric attack resistance of the watermark algorithm are ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of an embedding method in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an extraction method in a geometric attack resistant stereo image zero watermark embedding and extraction method according to an embodiment of the present invention;
fig. 3 (a) is a schematic diagram of a left viewpoint of an Art stereoscopic image in a method for embedding and extracting a zero watermark in a stereoscopic image for resisting geometric attacks according to an embodiment of the present invention;
fig. 3 (b) is a schematic diagram of a right viewpoint of an Art of a stereo image in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 4 (a) is a left viewpoint image of a stereo image Computer in a method for embedding and extracting a geometric attack-resistant stereo image zero watermark according to an embodiment of the present invention;
fig. 4 (b) is a right viewpoint image of a stereo image Computer in the geometric attack resistant stereo image zero watermark embedding and extracting method according to the embodiment of the present invention;
fig. 5 (a) is a schematic left viewpoint diagram of stereo images Flowers in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 5 (b) is a schematic diagram of a right viewpoint of stereo images Flowers in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 6 (a) is a schematic diagram of a left viewpoint of a stereo image Hoops in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 6 (b) is a schematic diagram of a stereo image Hoops right viewpoint in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an original binary copyright watermark image in a geometric attack resistant stereo image zero watermark embedding and extracting method provided by an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of an embedding method in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention, and fig. 2 is a schematic flowchart of an extracting method in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention. The embodiment can be applied to the condition of performing copyright protection on the color stereo image by using the zero watermark.
As shown in fig. 1, the embedding method in the stereo image zero watermark embedding and extracting method for resisting geometric attacks provided in this embodiment specifically includes the following steps:
s110, adopting an image scrambling method based on matrix transformation to perform original binary copyright watermarkingWScrambling is carried out to obtain a watermark image after primary scramblingW 1 Adopting image scrambling method based on complete Latin square to watermark imageW 1 Scrambling again to obtain the watermark image after secondary scramblingW 2 Carrying out chaotic encryption on the image subjected to the secondary scrambling by utilizing a two-dimensional Chebyshev-Singer Map system to obtain a watermark image subjected to double scrambling and encryption processingW E 。
Firstly, the original binary copyright watermark is scrambled by adopting an image scrambling method based on matrix transformationWScrambling is carried out to obtain a watermark image after primary scramblingW 1 。
Fig. 7 is a schematic diagram of an original binary watermark image in a geometric attack resistant stereo image zero watermark embedding and extracting method according to an embodiment of the present invention, and the size of the original binary watermark image in fig. 7 isN W ×N W Original binary copyright watermarkWAnd scrambling by adopting an image scrambling method based on matrix transformation. Specifically, the matrix transformation formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,Arepresents a scrambling matrix and satisfies det: (A)=±1，
，N W For watermarking an original copyright imageWThe size of (a); (x,y) And (a)x′,y′) Respectively representing the coordinates of the original copyright watermark image pixel before and after matrix transformation,e、ffor controlling the parameters, the number of iterations in the process and the control parameters are determinede、fStored as the Key 1. The original binary image containing the copyright information may adopt a pattern as shown in fig. 7, and may also be flexibly set according to actual needs, which is not limited in the embodiment of the present invention.
Then, an image scrambling method based on a complete Latin square is adopted to scramble the watermark image after the primary scramblingW 1 Scrambling again to obtain the watermark image after secondary scramblingW 2 。
Specifically, firstly, one is constructedN W Order-complete Latin square matrixC 1 Then will beC 1 And a isN W Adding the order all-1 matrix to obtain a matrixC 2 Then the matrix is dividedC 2 Expand rows and columns to construct aEach is provided withN W 2 Scrambling matrices of mutually different pairs of ordered numbersSThen the matrixSNamely a scrambling matrix; matrix arraySAll of the elements in (1) are matricesC 2 In adjacent rows of elements, and matrixSThe last row of elements of (2) use the matrixC 2 Expanding and filling corresponding elements in the last row; finally, a scrambling matrix is utilizedSThe provided position information is used for the watermark image after the primary scramblingW 1 Carrying out pixel position scrambling to obtain a watermark image after secondary scramblingW 2 . Wherein the scrambling matrix in the scrambling processSAnd the scrambling number are used together as the Key 2. For ease of understanding, the process of constructing the scrambling matrix from a 4 th order perfect Latin square is given below:
the two modes are adopted to carry out scrambling twice in sequence, so that the original watermark image can be addedWThe complexity of the preprocessing is used for enhancing the safety of the whole watermarking algorithm and simultaneously leading the original watermarking image to beWThe 0 or 1 pixel after scrambling is distributed more uniformly and disorderly, so that a better scrambling effect is achieved, and the robustness of the watermark can be greatly improved.
Performing chaotic encryption on the image subjected to twice scrambling by using a two-dimensional Chebyshev-Singer Map system to obtain a watermark image subjected to double scrambling and encryption processingW E The method comprises the following steps:
generating the length of 2 by using a newly constructed chaotic Map, namely a two-dimensional Chebyshev-Singer MapN W ×N W Random sequence of (2)Y 1 (ii) a Then cutting the half segment length intoN W ×N W And binarizing the random sequence according to the sequence mean value of the random sequence, and increasing the dimension to obtain the random sequence with the size ofN W ×N W Two-dimensional chaotic matrix ofD(ii) a The watermark image after double scramblingW 2 And chaos matrixDPerforming an XOR operationObtaining the final preprocessed watermark imageW E 。
The two-dimensional Chebyshev-Singer Map system model is as follows:
wherein the content of the first and second substances,a、b、canddthe parameters are fixed for the system and,τandμfor the system control parameters, the fixed parameters and control parameters of the system may be constants. The parameters can be used as a Key together and are recorded as a Key Key3, so that the later authentication is convenient to use.
S120, aiming at the original stereo imageISeparating the R, G, B channels of the left viewpoint and the right viewpoint respectively, combining the six separated components and constructing a third-order tensorE LR (ii) a To tensorE LR Performing Tucker decomposition to obtain original stereo imageIFirst energy diagram ofE M 。
Illustratively, a set of sizes may be set toM×NThe dual-viewpoint color stereo imageIIs combined with the respective R, G, B components of the left and right viewpoints of the image and is regarded as a third order tensorE LR， Subjecting it to Tucker decomposition to obtain stereo imageICan be expressed as follows:
in the formula:E LR representing stereoscopic images in tensor formI；
Representing a core tensor;V (1) 、V (2) 、V (3) are 3 in size respectivelyM×M、N×NAnd a 6 x 6 factor matrix. Hypothesis tensor
Is a tensorE LR A sub-tensor of, and
tensor of expression
To (1) aiFirst energy diagram after Tucker decomposition of layer and stereo imageE M Is a sub tensor
Layer 1 sub-diagram ofZ 1 ，Z 1 The method not only contains most energy of the original stereo image, but also contains the correlation between the left and right viewpoints and the correlation between the R, G, B channels in the left and right viewpoints.
The method can obtain the original stereo imageIAlso includes the correlation between the left and right viewpoints and the first energy diagram of the correlation between the R, G, B channels in the left and right viewpointsE M That is to say
Layer 1 sub-diagram ofZ 1 For subsequent calculation, thereby realizing the construction of the subsequent robust feature matrix.
S130, pairE M Non-overlapping blocks are divided and the mean value of each sub-block is calculated, then constructed from the mean values of all sub-blocksE M Mean subgraph ofE MS 。
The traditional way of calculating the moment features of the image is to directly calculate the obtained image, but the method is large in operation amount. Therefore, in the present embodiment, the image obtained by the preceding pair is adoptedE M Blocking and calculating the mean, then constructing using the meanE M Mean subgraph ofE MS And finally calculateE MS The image moment of (a). By using the method, the computational complexity in the process of extracting the robust features can be reduced on the premise of not reducing the robustness of the image moment features, and the mean featureCan represent the original image and has certain stability, so the robustness of the watermarking algorithm is not reduced.
S140, calculating a mean value subgraphE MS And generating mixed low-order moment features thereofV M 。
The calculated mean subgraphE MS And generating mixed low-order moment features thereofV M The method of (3), may comprise: sub-plot of mean valueE MS Converting into polar coordinate to obtain polar coordinate image
. Calculated according to the following formula
Fractional Jacobian-Fourier moments ofF nm ，
In the formula, the score parameterα∈R + (ii) a Order of the scalenBelongs to N; the repetition degree m belongs to Z; parameter(s)p,qBelongs to R and satisfiesp-q>-1，q>0; radial basis functionJ n (α,p,q,r) Can be expressed as
，
In order to be a function of the weight,
in order to be a normalization constant, the method comprises the following steps of,
is a fractional order Jacobi polynomial,
is a gamma function.
ByF nm Generating blended low-order moment featuresV M The method is realized by the following steps:
wherein the content of the first and second substances,nrepresents the order;mrepresents the degree of repetition;N W representing the watermark image size; fractional parameterαE {0.25,0.5,1,2,4}, symbol ⌈. ⌉ represents rounding up.
Will have different score parameters (αE {0.25,0.5,1,2,4 }) are combined into a mixed set of feature vectors, rather than treating them as a single feature. Since the fractional order parameters are related to the time domain nature of the fractional order Jacobian-Fourier basis functions, combining these moments can make the features more discriminative. In addition, only low-order moments (namely low-frequency information) of the image are adopted, so that the calculation consumption can be reduced while the feature robustness is ensured, and the timeliness of the algorithm is further improved.
S150, to the mixed low-order moment characteristicsV M Carrying out binarization according to the mean value to obtain a binary sequenceHFor the binary sequenceHPerforming ascending dimension transformation to obtain a binary transition matrixP 1 For transition matrixP 1 Redundancy and expansion to obtain a binary robust feature matrixT。
The binarizing the mixed low-order moment features VM according to the mean value thereof to obtain a binary sequence H, and then performing dimension-increasing transformation on the binary sequence H to obtain a binary transition matrix P1, which may include:
for mixed low order moment featuresV M Carrying out binarization according to the mean value to obtain a binary sequence
Then for the binary sequenceHPerforming ascending dimension transformation to obtain a binary transition matrix
。
Wherein the content of the first and second substances,
threshold value
，N W Representing the original copyright watermark image size.
The pair of transition matricesP 1 Redundancy and expansion to obtain a binary robust feature matrixTThe method can be realized by the following steps:
for transition matrixP 1 Redundancy to obtain a matrix
Will matrixP 2 Are divided into 4 area blocks of upper left, upper right, lower left and lower right, which are respectively marked asB 1 、B 2 、B 3 AndB 4 respectively using
Replacement ofB 1 、B 2 、B 3 、B 4 0 elements in the region block, respectively
Replacement ofB 1 、B 2 、B 3 、B 4 1 element in the area block, and the expanded matrix is a binary robust feature matrixT。
The mixed low-order moment characteristic is obtained through calculationV M Is a one-dimensional numerical sequence with stable geometric invariance, and is binarized according to the mean value and subjected to dimension raising so as to obtain a matrix with 0 or 1 elementP 1 To facilitate the generation of a watermark matrix in conjunction with the above stepsW E And carrying out exclusive or operation. But whenN W =Calculated at 64 hoursP 1 Is a binary matrix with size of 16 × 16, in order to improve the original watermarkWThe embedding capacity of (64 × 64), so thatP 1 Redundancy and expansion are carried out, and 16 x 16 is obtainedP 1 Binary robust feature matrix extended to 64 x 64TTo fit the embedding capacity of the original watermark.
S160, for the binary robust feature matrixTChaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT S 。
Illustratively, the feature matrix may be first constructedTBy zigzag scanning of line vectorsT 1 And then generating the length of the Key into the length of the Key based on a Key4 by utilizing a two-dimensional Chebyshev-Singer Map systemN W ×N W Random sequence of (2)Y 2 (ii) a Then to the sequenceY 2 Sorting in ascending order, and recording the sorted position index asU(ii) a Finally based on the indexUTo row vectorT 1 Reordering, and performing zigzag inverse scanning on the reordered result to obtain a scrambled characteristic matrixT S Where random sequences are to be generatedY 2 The used related two-dimensional Chebyshev-Singer Map system parameter different from the Key Key3 is marked as a Key Key4.
S170, double scrambling and encrypting the processed watermark imageW E And the feature matrix after scramblingT S Performing exclusive OR (XOR) operation to obtain the final authentication zero watermarkW Z Will beW Z And storing the zero watermark into a watermark database of a registration authority, and simultaneously storing the related keys in the zero watermark embedding process.
Through the steps, the final authentication zero watermark image is obtainedW Z And zero watermarkAnd related keys Key1, key2, key3 and Key4 used in the embedding process are used for finally verifying the copyright of the stereoscopic image to be authenticated.
In addition, the embodiment also provides an extraction method in the geometric attack resistant stereo image zero watermark embedding and extraction method, as shown in fig. 2, which specifically includes the following steps:
s210, stereo image to be authenticatedI′Separating the R, G, B channels of the left viewpoint and the right viewpoint respectively, combining the six separated components and constructing a third-order tensorE′ LR (ii) a Then to tensorE′ LR Performing Tucker decomposition to obtain a stereo image to be authenticatedI′First energy diagram ofE′ M 。
S220, pairE′ M Non-overlapping blocks are divided and the mean value of each sub-block is calculated and then constructed from the mean values of all sub-blocksE′ M Mean subgraph ofE′ MS 。
S230, calculating a mean value subgraphE′ MS And generating mixed low-order moment features thereofV ′ M 。
The generating mixed low-order moment featuresV′ M The method can be realized in the following way:
wherein, the first and the second end of the pipe are connected with each other,nrepresents the order;mrepresents the degree of repetition;N W representing the watermark image size; fractional parameterαE {0.25,0.5,1,2,4}, symbol ⌈. ⌉ represents rounding up.
S240, mixing low-order moment characteristicsV′ M Carrying out binarization according to the mean value to obtain a binary sequenceH′For the binary sequenceH′Performing ascending dimension transformation to obtain a binary transition matrixP′ 1 To the transition matrixP′ 1 Redundancy and expansion to obtain a binary robust feature matrixT′。
The pair-blending low order moment featuresV′ M Carrying out binarization according to the mean value to obtain a binary sequenceH′For the binary sequenceH′Performing dimension-increasing transformation to obtain a binary transition matrixP′ 1 The method comprises the following steps:
exemplary, for mixed low-order moment featuresV′ M Carrying out binarization according to the mean value to obtain a binary sequence
Then for the binary sequenceH′Performing ascending dimension transformation to obtain a binary transition matrix
。
Wherein the content of the first and second substances,
threshold value
，N W Representing the original copyright watermark image size.
The pair of transition matricesP′ 1 Redundancy and expansion to obtain binary robust feature matrixT′The method comprises the following steps:
for transition matrixP′ 1 Redundant to get matrix
Will matrixP′ 2 Are divided into 4 area blocks of upper left, upper right, lower left and lower right, which are respectively marked asB′ 1 、B′ 2 、B′ 3 AndB′ 4 respectively using
Replacement ofB′ 1 、B′ 2 、B′ 3 AndB′ 4 region block0 in (1) are respectively used
Replacement ofB′ 1 、B′ 2 、B′ 3 AndB′ 4 obtaining a filled matrix which is a binary robust feature matrix by 1 element in the region blockT′。
S250, to the two-value robust feature matrixT′Chaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT′ S 。
Illustratively, the feature matrix may be firstT′Scanning in-line vectors by zigzagT′ 1 And then generating the length of the Key into the length of the Key based on a Key4 by utilizing a two-dimensional Chebyshev-Singer Map systemN W ×N W Random sequence of (2)Y′ 2 (ii) a Then to the sequenceY′ 2 Sorting in ascending order, and recording the sorted position index asU′(ii) a Finally based on the indexU′To row vectorT′ 1 Reordering, and performing zigzag inverse scanning on the reordered result to obtain a scrambled feature matrixT′ S 。
S260, taking out the authentication zero watermark stored in the copyright identification database of the registration authorityW Z And the feature matrix after scramblingT′ S Performing exclusive OR operation to obtain an undecrypted binary watermark imageW′ E,
S270, the undecrypted watermark image is processedW′ E Sequentially carrying out chaotic decryption and two successive anti-scrambling operations based on complete Latin square and matrix transformation to extract final watermark informationW', finally according toW' displayed content information to authenticate color stereoscopic image to be authenticatedI′To which copyright is attributed.
Illustratively, a geometric attack resistant stereo image zero watermark provided by the present embodiment can be referred toMethod for embedding zero watermark in embedding and extracting method to original binary watermark imageWThe reverse process of the steps of double scrambling and encryption processing is carried out, and the watermark image is orderly processed according to the keys Key3, key2 and Key1
Chaotic decryption and twice anti-scrambling operations are carried out, and the final binary watermark information can be extractedW′。
According to the method for embedding and extracting the zero watermark of the stereo image for resisting the geometric attack, a first energy map of the stereo image with double view points is obtained through Tucker decomposition, the energy map not only contains the correlation between the left view point and the right view point of the stereo image, but also reserves the correlation between the R, G, B three channels in the two view points, the zero watermark of the stereo image is constructed based on the energy map, and the whole robustness of an algorithm is improved; then, a robust binary feature matrix is obtained by using the mixed low-order moment features of the fractional Jacobian-Fourier moments of the first energy graph mean value subgraph, so that the calculation efficiency of the algorithm is guaranteed, and the geometric attack resistance of the algorithm is effectively improved by using the good geometric invariance of the feature moments; meanwhile, a double scrambling method and a newly designed two-dimensional Chebyshev-Singer Map system are adopted to encrypt and scramble the original watermark image and the binary feature matrix, so that the safety of the algorithm is enhanced. The method can be very robust against common multiple image processing attacks such as noise addition, filtering, JPEG compression, shearing, rotation, scaling, translation geometric attack and the like.
The following describes the process and effect of the method for embedding and extracting a zero watermark of a stereoscopic image with geometric attack resistance provided by the invention with reference to specific examples.
In order to verify the effectiveness of the present invention, the simulation experiment uses standard binocular stereo images of middlebury stereos databases, and fig. 3-6 show the Art, computer, flowers and Hoops4 sets of stereo images in the databases, which are 512 × 512 in size. The original binary copyright watermark image is a Logo image with a size of 64 × 64, as shown in fig. 7.
The invention adopts peak signal-to-noise ratio (PSNR) to evaluate the quality of an original image after being attacked, and the PSNR is defined as follows:
wherein the content of the first and second substances,N I ×N I as to the size of the original image,
represents an original image inx,y) The value of the pixel at a point is,
represents the image after the attack in (x,y) The pixel value at a point. The lower the PSNR value, the greater the image quality loss after the image is attacked.
The invention adopts a normalized correlation coefficient (NC) to evaluate the finally detected binary watermark imageW' and original binary watermark imageWThe degree of similarity between them, NC is defined as follows:
wherein, the first and the second end of the pipe are connected with each other,N W ×N W the larger the NC value is, the larger the extracted binary watermark image isW' with original binary watermark imageWThe more similar, the more robust the method is.
Table 1 shows a comparison between a PSNR test value and an NC test value of a stereo image Art under a non-geometric attack in the method for embedding and extracting a geometric attack-resistant stereo image zero watermark provided in the embodiment of the present invention. As can be seen from Table 1, no matter aiming at asymmetric attacks or symmetric attacks, after the stereo image Art is subjected to several high-intensity non-geometric attacks such as noise addition, filtering and JPEG compression, the PSNR value of the image shows that the visual quality of the image is seriously lost, but the detected watermark is still clear and visible, and NC is almost all 1, which shows that the method has extremely strong robustness to the several non-geometric attacks in Table 1. Here, the asymmetric attack refers to an attack on only the left viewpoint image of the stereoscopic image, and the symmetric attack refers to an attack on both the left and right viewpoint images of the stereoscopic image.
TABLE 1 PSNR and NC values of stereoscopic image Art under non-geometric attacks
Table 2 shows a comparison between a PSNR test value and an NC test value of the stereo image Art under the geometric attack in the geometric attack resistant stereo image zero watermark embedding and extracting method provided in the embodiment of the present invention. It can be seen from table 2 that after the stereo image Art experiences four kinds of geometric attacks, namely, rotation attack at a larger angle, scaling, translation and large-area shearing, the PSNR value of the image shows that the visual quality of the image is seriously lost, but at this time, the extracted watermark NC values are all above 0.98, which shows that the stereo image zero watermark embedding and extracting method for resisting geometric attacks provided by the embodiment of the present invention can effectively resist several kinds of geometric attacks in table 2.
TABLE 2 PSNR value and NC value of stereo image Art under geometric attack
Table 3 shows the comparison of the NC values of the robustness test of 4 stereo images under non-geometric attack in the geometric attack resistant stereo image zero watermark embedding and extracting method provided in the embodiment of the present invention; table 4 shows the comparison of the NC values of the robustness test of 4 stereoscopic images under the geometric attack in the method for embedding and extracting a geometric attack resistant stereoscopic image zero watermark provided in the embodiment of the present invention. As can be seen from tables 3 and 4, for different stereo images, no matter symmetric attacks or asymmetric attacks, the stereo image zero watermark embedding and extracting method provided by the embodiment of the present invention shows superior robustness to common non-geometric and geometric attacks, and further illustrates robustness and universality of the stereo image zero watermark embedding and extracting method provided by the embodiment of the present invention in terms of attack resistance.
TABLE 3 NC value comparison of three-dimensional images under non-geometric attack
Table 4 comparison of tested NC-values of three-dimensional images under geometric attack
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A geometric attack resistant stereo image zero watermark embedding and extracting method is characterized by comprising the following steps:
embedding a zero watermark in an original color stereo image and extracting the zero watermark from the color stereo image to be authenticated;
the embedding of the zero watermark in the original color stereo image comprises the following steps:
original binary copyright watermark by adopting image scrambling method based on matrix transformationWScrambling is carried out to obtain a watermark image after primary scramblingW 1 Adopting image scrambling method based on complete Latin square to watermark imageW 1 Scrambling again to obtain the watermark image after secondary scramblingW 2 And (3) utilizing a two-dimensional Chebyshev-Singer Map system to perform secondary scrambling on the watermark imageW 2 Chaotic encryption is carried out to obtain a watermark image after double scrambling and encryption processingW E ；
For original stereo imageIA left part,Separating R, G, B channels of the right viewpoint, combining the six separated components and constructing a third order tensorE LR (ii) a To tensorE LR Performing Tucker decomposition to obtain original stereo imageIFirst energy diagram ofE M ；
For is toE M Non-overlapping blocks are divided and the mean value of each sub-block is calculated, and the mean value of all sub-blocks is constructedE M Mean subgraph ofE MS ；
Computed mean subgraphE MS And generating a hybrid low-order moment feature thereofV M ；
For mixed low order moment featuresV M Carrying out binarization according to the mean value to obtain a binary sequenceHFor the binary sequenceHPerforming dimension-increasing transformation to obtain a binary transition matrixP 1 To the transition matrixP 1 Redundancy and expansion to obtain a binary robust feature matrixT；
To binary robust feature matrixTChaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT S ；
Watermark image after double scrambling and encryption processingW E And ordering the scrambled feature matrixT S Executing XOR operation to obtain the final authentication zero watermarkW Z Will beW Z Storing the zero watermark into a watermark database of a registration organization, and storing a secret key in the zero watermark embedding process, namely completing the zero watermark embedding process;
the zero watermark extraction of the color stereo image to be authenticated for legality comprises the following steps:
stereo image to be authenticatedI′The R, G, B channels of the left viewpoint and the right viewpoint are separated, the six separated components are combined to form a third-order tensorE′ LR (ii) a Then to tensorE′ LR Performing Tucker decomposition to obtain a stereo image to be authenticatedI′First energy diagram ofE′ M ；
To pairE′ M Performing non-overlapping partitioning and countingCalculating the mean value of each sub-block, and constructing from the mean values of all sub-blocksE′ M Mean subgraph ofE′ MS ；
Computed mean subgraphE′ MS And generating mixed low-order moment features thereofV′ M ；
For mixed low order moment featuresV′ M Carrying out binarization according to the mean value to obtain a binary sequenceH′For the binary sequenceH′Performing ascending dimension transformation to obtain a binary transition matrixP′ 1 To the transition matrixP′ 1 Redundancy and expansion to obtain a binary robust feature matrixT′；
For binary robust feature matrixT′Chaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT′ S ；
Taking out the authentication zero watermark stored in the copyright identification database of the registration authorityW Z And the feature matrix after scramblingT′ S Performing exclusive OR operation to obtain an undecrypted binary watermark imageW′ E ；
For undecrypted watermark imageW′ E Sequentially carrying out chaotic decryption and two successive anti-scrambling operations based on complete Latin square and matrix transformation to extract final watermark informationW', finally according toW' displayed content information to authenticate color stereoscopic image to be authenticatedI′Copyright attribution;
obtaining an original stereo imageIFirst energy diagram ofE M The method comprises the following steps:
one group is sized asM×NThe dual-viewpoint color stereo imageIThe R, G, B channels of the left viewpoint and the right viewpoint are separated, and the six separated components are combined and regarded as a third-order tensorE LR Subjecting it to Tucker decomposition to obtain stereo imageIIt can be expressed as follows,
in the formulaE LR Representing stereoscopic images in tensor formI，
The tensor of the core is represented,V (1) 、V (2) 、V (3) are 3 in size respectivelyM×M、N×NAnd a 6 × 6 factor matrix, the number of which is set
Is tensorE LR A sub-tensor of, and
tensor of expression
To (1) aiLayer, then layer 1 subgraph Z 1 Namely a first energy diagram after the Tucker decomposition of the stereo imageE M 。
2. The method of claim 1, wherein the two-dimensionally Chebyshev-Singer Map system is used to scramble the twice-scrambled watermark imageW 2 Performing chaotic encryption, comprising:
the two-dimensional Chebyshev-Singer Map system is expressed by the following formula:
wherein a, b, c and d are all system fixed parameters,τandμin order to control the parameters of the system,x i andy i is an intermediate variable in the iterative process of the system,x i+1 andy i+1 are respectively asx i Andy i the next state of (a);
using the two-dimensional Chebyshev-Singer Map system, a length ofOriginal copyright watermarkWDouble-sized chaotic random sequenceY 1 Intercepting a random sequenceY 1 The second half of the method is carried out binaryzation according to the sequence mean value, and the binaryzation sequence is carried out upscaling transformation to obtain the watermark corresponding to the original copyright watermarkWTwo-dimensional chaotic matrix with the same size, and two-dimensional chaotic matrix and watermark image after secondary scramblingW 2 Executing XOR operation to obtain encrypted watermark imageW E 。
3. The method of claim 1, wherein the computed mean subgraphE MS And generating mixed low-order moment features thereofV M The method comprises the following steps:
sub-plot of meanE MS Converting into polar coordinate to obtain polar coordinate image
Calculated according to the following formula
Fractional Jacobian-Fourier moments ofF nm ，
In the formula, the score parameterα∈R + (ii) a Order of the scalenE is N; degree of repetitionmE is Z; parameter(s)p,qBelongs to R and satisfies p-q>-1，q>0; radial basis functionJ n (α,p,q,r) Can be expressed as
，
In order to be a function of the weight,
in order to be a normalization constant, the method comprises the following steps of,
is a fractional order Jacobi polynomial,
is a gamma function;
byF nm Generating hybrid low-order moment featuresV M The method is realized by the following steps:
wherein the content of the first and second substances,nthe order of the order is represented,mthe degree of repetition is indicated as such,N W representing watermark image size, fractional parameterαE {0.25,0.5,1,2,4}, symbol ⌈. ⌉ represents rounding up;
the pair of transition matricesP 1 Redundancy and expansion to obtain a binary robust feature matrixTThe method comprises the following steps:
for transition matrixP 1 Redundant to get matrix
Will matrixP 2 Are divided into 4 area blocks of upper left, upper right, lower left and lower right, which are respectively marked asB 1 、B 2 、B 3 AndB 4 respectively using
Replacement ofB 1 、B 2 、B 3 、B 4 0 elements in the region blocks, respectively
Replacement ofB 1 、B 2 、B 3 、B 4 1 element in the area block, and the expanded matrix is a binary robust feature matrixT。
4. The method of claim 1, wherein the original binary copyright watermark is scrambled using a matrix-based image scrambling methodWScrambling is carried out to obtain a watermark image after primary scramblingW 1， The method comprises the following steps:
watermarking original copyright by matrix transformation formulaWCarrying out first scrambling to obtain the watermark image after the first scramblingW 1 The matrix transformation formula is expressed as:
in the formula (I), the compound is shown in the specification,Arepresents a scrambling matrix and satisfies det: (A)=±1，
，N W For watermarking an image of an original copyrightWThe size of (a); (x,y) And (a)x′,y′) Respectively representing the coordinates of the original copyright watermark image pixel before and after matrix transformation,e、fare control parameters.
5. The method of claim 1, wherein the watermarking image is scrambled using a complete Latin-based image scrambling methodW 1 Scrambling again to obtain the watermark image after secondary scramblingW 2 The method comprises the following steps:
structure of the deviceN W Order-complete Latin square matrixC 1 Then the matrix is formedC 1 With one element being all 1N W Adding the order matrix to obtain a matrixC 2 ；
Will matrixC 2 Expanding the rows and columns to construct a structure containingN W 2 Scrambling matrices of mutually different pairs of ordered numbersSUsing scrambling matricesSThe provided position information is used for the watermark image after the primary scramblingW 1 Pixel position scrambling is carried out to obtain a watermark image after secondary scramblingW 2 。
6. The method of claim 1, wherein the binary robust feature matrixTChaotic sequencing scrambling is carried out to obtain a feature matrix after scramblingT S The method comprises the following steps:
feature matrixTScanning in-line vectors by zigzagT 1 Generating the length and the original watermark by using a two-dimensional Chebyshev-Singer Map systemWRandom sequences of the same sizeY 2 Then to the sequenceY 2 Sorting in ascending order, and recording the sorted position index asUAnd finally based on the indexUFor line vectorT 1 Reordering, and performing zigzag inverse scanning on the reordered result to obtain a scrambled characteristic matrixT S 。
7. The method of claim 1, wherein the pair of transition matricesP′ 1 Redundancy and expansion to obtain a binary robust feature matrixT′The method comprises the following steps:
for transition matrixP′ 1 Redundancy to obtain a matrix
A matrix ofP′ 2 Are divided into 4 area blocks of upper left, upper right, lower left and lower right, which are respectively marked asB′ 1 、B′ 2 、B′ 3 AndB′ 4 respectively using
Replacement ofB′ 1 、B′ 2 、B′ 3 AndB′ 4 0 elements in the region block, respectively
Replacement ofB′ 1 、B′ 2 、B′ 3 AndB′ 4 obtaining a filled matrix which is a binary robust feature matrix by 1 element in the region blockT′。
8. The method of claim 1, wherein the key comprises:
will watermark the original binary imageWControl parameters in matrix-transform scramblinge、fAnd scrambling times as a Key Key1;
the watermark image after one-time scrambling is to be comparedW 1 Scrambling matrix for perfect Latin-square scramblingSAnd scrambling times as a Key Key2;
adopting a two-dimensional Chebyshev-Singer Map system to perform secondary scrambling on the watermark imageW 2 Chaotic encryption is carried out to generate random sequenceY 1 Fixed system parameters used at the timea,b,c,dAnd control parametersτ、μAs the Key3;
the Chebyshev-Singer Map system is adopted to carry out binary robust feature matrixTAndT′chaotic ordering and scrambling are carried out to generate random sequenceY 2 Fixed system parameters used at the timea,b,c,dAnd control parametersτ、μAs the Key4.
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Application publication date: 20221108 Assignee: Beijing Feifan Chuangxiang Technology Industry Co.,Ltd. Assignor: CIVIL AVIATION University OF CHINA Contract record no.: X2024980007072 Denomination of invention: A Zero Watermark Embedding and Extraction Method for Stereoscopic Images Against Geometric Attacks Granted publication date: 20221223 License type: Common License Record date: 20240612 |