CN115731086A - Method and system for generating light-weight point-level vector high-precision map digital watermark - Google Patents
Method and system for generating light-weight point-level vector high-precision map digital watermark Download PDFInfo
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- CN115731086A CN115731086A CN202211458081.0A CN202211458081A CN115731086A CN 115731086 A CN115731086 A CN 115731086A CN 202211458081 A CN202211458081 A CN 202211458081A CN 115731086 A CN115731086 A CN 115731086A
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Abstract
The invention belongs to the technical field of map watermarks, and particularly provides a method and a system for generating a light-weight point-level vector high-precision map digital watermark, wherein the method comprises the following steps: acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system; acquiring a random key number s and a key geographic coordinate number n, and generating a digital watermark number sequence by using a digital watermark generation algorithm; and hiding and embedding the digital watermark array into the space geographic coordinate information under the rule of controllable precision. The scheme can add digital watermarks to all elements of the vector high-precision map and can also add digital watermarks to partial elements; the digital watermark has controllable precision loss, so that the quality of a vector high-precision map containing the digital watermark can be effectively ensured, and partial offset data can be generated to be used as sample data; the digital watermark added by each shape point is random in a specific mode and can not be reproduced.
Description
Technical Field
The invention relates to the technical field of map watermarks, in particular to a method and a system for generating a lightweight point-level vector high-precision map digital watermark.
Background
The high-precision map is a necessity for high-level automatic driving, and can provide a lot of prior knowledge for the intelligent automobile, such as important functions of vehicle positioning, road conditions, surrounding environment, unexpected events, lane-level path planning and the like. The copyright problem of vector high-precision maps is more and more important, and the common watermarking technology is difficult to play a role in vector geographic spatial information.
The current vector map watermarking method mainly comprises three methods:
the first type is a reversible watermark algorithm, the reversible watermark protects copyright by embedding watermark information in original data, and when the watermark is extracted to verify the copyright, the original data can be recovered along with the extraction of the watermark, so that zero interference of data is realized. However, the reversible watermarking technique has a significant drawback in that the watermark can only be used once, since the reversible watermark information must be removed after extraction. Therefore, this method cannot meet the user's requirements for permanent watermarks. In addition, in order to satisfy algorithm reversibility and watermark embedding space at the same time, most reversible watermarks still need to acquire a watermark hiding space by disturbing data precision. From this point of view, it is not truly lossless.
The second lossless watermarking technique is zero watermarking, which generates a watermark from the feature information of the vector map without any modification to the host data. The generated watermark will be stored in an IPR (intellectual property) repository, subject to third party authority for watermark detection. The method has the key point that stable characteristic information of the original vector map is extracted, and the zero watermark based on the characteristic information can resist various attacks. The feature information may be a spatial statistical feature or a geometric feature based on a vector map, and the feature information is further combined with the watermark information to generate a zero watermark. Compared with reversible watermarking, zero watermarking is completely lossless. However, it is a construction of the watermark without embedding the watermark, and therefore there is a risk of misjudgment in extracting and declaring the right. For example, everyone can construct a zero watermark based on the original data and register with the intellectual property authority they trust. In addition, the zero-watermark mechanism needs to store watermark information in a third-party copyright agency, and there are many limitations in practical application.
The third one is lossless watermark method based on memory sequence, which utilizes the characteristics of ordered vector map arrangement and unordered memory to hide watermark information in the memory rule by redesigning the memory rule of elements. However, the defects of reversible watermarks and zero watermarks cannot be completely avoided at present, and the watermarks still disturb coordinate information of data and cannot be completely lossless.
The precision loss of the above watermark methods is not controllable, and the method also has the function of detecting the tampered place of the data.
Disclosure of Invention
The invention aims at the technical problems that the precision loss of the existing watermarking method in the prior art is uncontrollable and the tampered position of data cannot be detected.
The invention provides a light-weight point-level vector high-precision map digital watermark generation method, which is characterized by comprising the following steps of:
s1, acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
s2, acquiring a random key number S epsilon (0,1) and an element geographic coordinate number n, and generating a digital watermark number sequence by using a digital watermark generation algorithm;
and S3, hiding and embedding the digital watermark sequence into the space geographic coordinate information under the rule of controllable precision.
Preferably, the S1 specifically includes:
s101, acquiring vector high-precision map data and expressing the vector high-precision map data into a set of each entity element, wherein the information of each entity element comprises an element type, an element id and a spatial geographic coordinate, and the spatial geographic coordinate is composed of a series of ordered shape points;
and S102, projecting the space geographic coordinate information to which the digital watermark elements need to be added into a rectangular coordinate.
Preferably, the S2 specifically includes:
the digital watermark sequence is generated in batch using a first class of chebyshev polynomials cos (m × arccos (s)), where m is a randomly generated random number and s is a randomly generated random number in the range of (0,1).
Preferably, the S3 specifically includes:
and (4) rewriting and replacing the numbers after the decimal point of the coordinates (x, y, z) of the prime geographic coordinates according to a custom rule.
Preferably, the customized rule specifically includes:
randomly selecting a digit from 1 to 9, writing the digit into the 5 th bit of the decimal point of z, writing the digits of 1 to 7 bits after the decimal point of the digital watermark into 6 to 12 bits of the decimal point of z correspondingly, writing the digits of 8 to 12 bits after the decimal point of the digital watermark into 5 to 9 bits of the decimal point of x, and writing the digits of 13 to 16 bits after the decimal point of the digital watermark into 5 to 8 bits of the decimal point of y.
Preferably, S4 is further included after S3:
and carrying out digital watermark detection and tampering detection on the map according to the second class of Chebyshev polynomials Un.
Preferably, the S4 specifically includes:
s401, reversely calculating a digital watermark number sequence S according to the rule when the digital watermark number sequence is embedded;
s402, calculating e = S [ n +1] - (2 x S [ n ] -S [ n-1 ]) from the key number S, if e <1e-5 at each place, the digital watermark can be considered to have been added by the above method and the coordinates are not modified with a high probability, if there is a portion e >1e-5, the place has been tampered with, where n is the number of elemental geographic coordinates.
The invention also provides a light-weight point-level vector high-precision map digital watermark generation system, which is used for realizing the steps of the light-weight point-level vector high-precision map digital watermark generation method and specifically comprises the following steps:
the map acquisition module is used for acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
the digital watermark production module is used for acquiring a random key number s epsilon (0,1) and an element geographic coordinate number n and generating a digital watermark sequence by using a digital watermark generation algorithm;
and the watermark embedding module is used for embedding the digital watermark array into the space geographic coordinate information in a hidden way under the rule of controllable precision.
The invention also provides electronic equipment which comprises a memory and a processor, wherein the processor is used for realizing the steps of the method for generating the lightweight dot-level vector high-precision map digital watermark when executing the computer management program stored in the memory.
The invention also provides a computer readable storage medium, on which a computer management program is stored, which when executed by a processor implements the steps of the lightweight point-level vector high-precision map digital watermark generation method.
Has the advantages that: the invention provides a method and a system for generating a light-weight point-level vector high-precision map digital watermark, wherein the method comprises the following steps: acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system; acquiring a random key number s epsilon (0,1) and an element geographic coordinate number n, and generating a digital watermark sequence by using a digital watermark generation algorithm; and hiding and embedding the digital watermark array into the space geographic coordinate information under the rule of controllable precision. The scheme can add digital watermarks to all elements of the vector high-precision map and can also add digital watermarks to partial elements; the digital watermark has controllable precision loss, so that the quality of the vector high-precision map containing the digital watermark can be effectively ensured, and partial offset data can be generated to be used as sample data; the digital watermark added by each shape point is random in a specific mode and cannot be reproduced; and the digital watermark has the function of detecting the tampered place of the data.
Drawings
FIG. 1 is a flow chart of a method for generating a lightweight point-level vector high-precision map digital watermark according to the present invention;
FIG. 2 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
FIG. 3 is a schematic diagram of a hardware structure of a possible computer-readable storage medium provided by the present invention;
FIG. 4 is a diagram of an original curve element provided by the present invention;
fig. 5 is a diagram of curved line elements after watermarking provided by the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 4 and fig. 5, an embodiment of the present invention provides a lightweight dot-level vector high-precision map digital watermark generating method, including the following steps:
s1, acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system; all elements of the vector high-precision map comprise the elements with the shape point number >3, such as a lane line, a POI, a road network and the like.
S2, acquiring a random key number S epsilon (0,1) and an element geographic coordinate number n, and generating a digital watermark number sequence by using a digital watermark generation algorithm; the digital watermark can be added to all elements, and the digital watermark can be added to partial elements. The key number s is obtained by a random algorithm. One element geographic coordinate corresponds to one shape point, and therefore, the digital watermark added to each shape point is random in a specific mode, namely is not reproducible.
And S3, hiding and embedding the digital watermark sequence into the space geographic coordinate information under the rule of controllable precision.
The technical scheme of the embodiment provides a digital watermark generation and verification method which is light in weight, point in shape, strong in randomness and controllable in precision loss, and has the function of detecting the tampered place of data.
According to a further scheme, space geographic coordinate information of a high-precision map needing to be added with a digital watermark element is obtained firstly, the space geographic coordinate information is projected to a plane coordinate system, then watermark information is generated by a digital watermark generation algorithm according to a self-defined secret key number s e (0,1) and the number of the element geographic coordinates, the randomness in the algorithm generation process is noticed, and the generated digital watermark information has randomness in [0,1] and cannot be inversely calculated. And then, the digital watermark information is hidden and embedded into the space geographic coordinate information under controllable precision.
In a preferred embodiment, S2 specifically includes: the digital watermark sequence is generated in batch using a first class of chebyshev polynomials cos (m × arccos (s)), where m is a randomly generated random number and s is a randomly generated random number in the range of (0,1). Chebyshev polynomial T of the first kind n (x) (= cos (x)) is a Chebyshev polynomial of degree n, where x ∈ [ -1,1],
Its recursive nature can be expressed as:
T 0 (x)＝1,T 1 (x)＝x,
T n+1 (x)＝2nT n (x)-T n-1 (x)。
the digital watermark production algorithm in the computer is as follows:
inputting: the method comprises the steps of calculating a geographic coordinate figure number (element geographic coordinate number) n, obtaining a user-defined key number s E (0,1), and randomly generating an integer m.
a＝[]
for i＝0,1,…,l-1do
m＝m+i
t＝cos(m*arccos(s))
a.append(t)
end for
And (3) outputting: digital watermark a
Specifically, generation of digital watermarks is based on Chebyshev polynomials: firstly, obtaining vector high-precision map data, wherein the data can be expressed as a set of each element, and each entity element information comprises an element type, an element id, a space geographic coordinate and the like, wherein the space geographic coordinate is formed by a series of ordered shape points such as [ (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),...,(x n ,y n ,z n )]After acquiring the spatial geographic coordinates of the elements, projecting the elements to rectangular coordinates such as Gaussian-gram projection zones; then determining the shape point number n of the element space geographic coordinate, obtaining a user-defined key number s epsilon (0,1), finally generating a digital watermark number sequence according to a digital watermark generation algorithm, and noting that m in a Chebyshev polynomial cos (m x arccos (s)) in the algorithm is a randomly generated integer, so that a first number in the generated digital watermark number sequence is also [0,1]]Is not back-calculable.
In a further embodiment, S3 specifically includes: and (4) rewriting and replacing the numbers after the decimal point of the coordinates (x, y, z) of the prime geographic coordinates according to a custom rule.
Specifically, the digital watermark sequence is hidden and written into the corresponding shape point coordinates in a specific method according to the precision loss requirement, and a rule algorithm can be customized. This embodiment gives the way to rewrite the number after the decimal point of coordinates (x, y, z), and gives a simple and realistic example in the figure i, where rewriting is started from four digits after the decimal point, the 5 th digit of the decimal point of z is written with 0 as a negative sign, if it is a positive number, a number can be randomly selected and written in 1-9, because the number sequence of digital watermarks is in (0,1), '0 ' can not be used to indicate, the 1-7 th digits after the decimal point of the digital watermark are written in 6-12 digits of the z decimal point, the 8-12 digits after the decimal point of the digital watermark are written in 5-9 digits of the x decimal point, the 13-16 digits after the decimal point of the digital watermark are written in 5-8 digits of the y decimal point, and the precision error d (p, p ') is less than 0.00018m, which far meets the requirement of high precision maps.
In a further embodiment, S3 is followed by S4: and performing digital watermark detection and tampering detection according to the second class of Chebyshev polynomials Un. I.e. according to the second expression (recursive) of the Chebyshev polynomial as digital watermark detection and tamper detection.
Specifically, firstly, the geographic coordinate information of the element is acquired according to the vector high-precision map with the digital watermark, the digital watermark number sequence S is calculated according to the rule of embedding the digital watermark in the geographic coordinate information, then e = S [ n +1] - (2 x S [ n ] -S [ n-1 ]) is calculated according to the secret key number S, if e <1e-5 at each position, the digital watermark can be considered to be added by the method, the coordinate large probability is not modified, and if the part e >1e-5 exists, the nearby large probability at the position is tampered.
The embodiment of the invention also provides a lightweight point-level vector high-precision map digital watermark generation system, which is used for realizing the steps of the lightweight point-level vector high-precision map digital watermark generation method, and specifically comprises the following steps:
the map acquisition module is used for acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
the digital watermark production module is used for acquiring a random key number s epsilon (0,1) and an element geographic coordinate number n and generating a digital watermark sequence by using a digital watermark generation algorithm;
and the watermark embedding module is used for embedding the digital watermark array into the space geographic coordinate information in a hidden way under the rule of controllable precision.
Fig. 2 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 2, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and operable on the processor 1320, where the processor 1320, when executing the computer program 1311, implements the following steps: s1, acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
s2, acquiring a random key number S epsilon (0,1) and an element geographic coordinate number n, and generating a digital watermark number sequence by using a digital watermark generation algorithm;
and S3, hiding and embedding the digital watermark sequence into the space geographic coordinate information under the rule of controllable precision.
Please refer to fig. 3, which is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 3, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, which computer program 1411, when executed by a processor, implements the steps of: s1, acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
s2, acquiring a random secret key number S ∈ (0,1) and a factor geographic coordinate number n, and generating a digital watermark sequence by using a digital watermark generation algorithm;
and S3, hiding and embedding the digital watermark sequence into the space geographic coordinate information under the rule of controllable precision.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for generating a light-weight point-level vector high-precision map digital watermark is characterized by comprising the following steps:
s1, acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
s2, acquiring a random key number S epsilon (0,1) and an element geographic coordinate number n, and generating a digital watermark number sequence by using a digital watermark generation algorithm;
and S3, hiding and embedding the digital watermark sequence into the space geographic coordinate information under the rule of controllable precision.
2. A lightweight, point-level vector high-precision map digital watermark generation method according to claim 1, wherein S1 specifically comprises:
s101, acquiring vector high-precision map data and expressing the vector high-precision map data into a set of each entity element, wherein the information of each entity element comprises an element type, an element id and a spatial geographic coordinate, and the spatial geographic coordinate is composed of a series of ordered shape points;
and S102, projecting the space geographic coordinate information to which the digital watermark elements need to be added into a rectangular coordinate.
3. A lightweight, point-level vector high-precision map digital watermark generation method according to claim 1, wherein said S2 specifically comprises:
the digital watermark sequence is generated in batch using a first class of chebyshev polynomials cos (m × arccos (s)), where m is a randomly generated random number and s is a randomly generated random number in the range of (0,1).
4. A lightweight, point-level vector high-precision map digital watermark generation method according to claim 1, wherein said S3 specifically comprises:
and (4) rewriting and replacing the numbers after the decimal point of the coordinates (x, y, z) of the prime geographic coordinates according to a custom rule.
5. A lightweight, geometric point-level vector high-precision map digital watermark generation method according to claim 4, wherein said custom rules specifically include:
randomly selecting a digit from 1 to 9, writing the digit into the 5 th bit of the decimal point of z, writing the digits of 1 to 7 bits after the decimal point of the digital watermark into 6 to 12 bits of the decimal point of z correspondingly, writing the digits of 8 to 12 bits after the decimal point of the digital watermark into 5 to 9 bits of the decimal point of x, and writing the digits of 13 to 16 bits after the decimal point of the digital watermark into 5 to 8 bits of the decimal point of y.
6. A lightweight, point-level vector high-precision map digital watermark generation method according to claim 1, wherein said S3 is followed by S4:
and carrying out digital watermark detection and tampering detection on the map according to the second class of Chebyshev polynomials Un.
7. A lightweight, point-level vector high-precision map digital watermark generation method according to claim 6, wherein S4 specifically comprises:
s401, reversely calculating a digital watermark number sequence S according to the rule when the digital watermark number sequence is embedded;
s402, calculating e = S [ n +1] - (2 x S [ n ] -S [ n-1 ]) from the key number S, if e <1e-5 at each place, the digital watermark can be considered to have been added by the above method and the coordinates are not modified with a high probability, if there is a portion e >1e-5, the place has been tampered with, where n is the number of elemental geographic coordinates.
8. A lightweight point-level vector high-precision map digital watermark generation system, which is used for realizing the steps of the lightweight point-level vector high-precision map digital watermark generation method according to any one of claims 1 to 7, and specifically comprises the following steps:
the map acquisition module is used for acquiring a high-precision map and space geographic coordinate information of elements needing to be added with digital watermarks, and projecting the space geographic coordinate information to a plane coordinate system;
the digital watermark production module is used for acquiring a random key number s epsilon (0,1) and an element geographic coordinate number n and generating a digital watermark sequence by using a digital watermark generation algorithm;
and the watermark embedding module is used for embedding the digital watermark array into the space geographic coordinate information in a hidden manner under the rule of controllable precision.
9. An electronic device, comprising a memory, a processor for implementing the steps of the lightweight, point-level vector high-precision map digital watermark generation method according to any one of claims 1 to 7 when executing a computer management-like program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program which, when executed by a processor, implements the steps of the lightweight, point-level vector high-precision map digital watermark generation method of any of claims 1-7.
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