CN116362952B - Three-dimensional point cloud data digital watermarking method using grid division - Google Patents
Three-dimensional point cloud data digital watermarking method using grid division Download PDFInfo
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Abstract
The invention discloses a three-dimensional point cloud data digital watermarking method using grid division, which comprises the following steps: firstly, projecting three-dimensional point cloud data on a two-dimensional plane along a Z axis, and carrying out uniform grid division; secondly, respectively carrying out normalization processing on vertex coordinates in each grid after the blocking; then, a mapping method is used for establishing a corresponding relation between the normalized X and Y coordinates and watermark information; finally, the watermark information is embedded by modifying the normalized Z coordinate by using the QIM method. The robustness of the method is improved by utilizing the block embedding and mapping method, and the blind detection of the watermark can be realized. Experiments show that the method has good robustness to common attacks such as translation, scaling, random point increase, simplification, clipping and the like, has good invisibility, and provides a new solution for copyright protection of three-dimensional point cloud data.
Description
Technical Field
The invention belongs to the field of geospatial data security, and relates to a three-dimensional point cloud data digital watermarking method using grid division.
Background
With the rise of digital cities and smart cities, three-dimensional data are widely applied in the fields of unmanned driving, smart transportation, city planning and the like because of the capability of intuitively and vividly displaying space features. Three-dimensional point cloud data is commonly used in geographic three-dimensional modeling and scene analysis as an important data form in three-dimensional data. With the continuous development of laser scanning, oblique photography and other technologies, the acquisition and processing of three-dimensional point cloud data become more convenient and faster, thereby generating a large amount of three-dimensional point cloud data, and the data generally has strict commercial property and confidentiality. However, with the rapid development of computer technology and network technology and the disclosure of point cloud data formats and release modes, the sharing of point cloud data becomes more and more convenient, so that the point cloud data with larger data quantity is easier to copy and transmit, and meanwhile, the leakage, embezzlement and illegal transmission of the three-dimensional point cloud data are more difficult to control. The disclosure of the point cloud data can seriously damage the rights and interests of the data copyright owners, and even can cause serious threat to national security and national defense security. Therefore, the problem of copyright protection of the three-dimensional point cloud data is increasingly remarkable, and effective technical means are urgently needed to protect the copyright of the three-dimensional point cloud data.
The digital watermark is a leading-edge information security technology, which utilizes data itself as a carrier through a specific algorithm, integrates watermark information with the data, is used for hiding information such as copyright holders, data users and the like, and is widely applied to copyright protection of video, audio and two-dimensional geographic data at present. The digital watermarking technology is suitable for subsequent copyright identification and use tracking, and once data is leaked or stolen, information detected from the data is a powerful basis for responsibility identification. The digital products to be protected can be embedded with watermarks according to the use environment and the robustness requirement and by combining the characteristics of the digital products, the digital watermarking technology is utilized to protect the data security. Currently, in research on a three-dimensional point cloud data copyright protection method, there are generally methods based on principal component analysis (Principal Component Analysis, PCA), vertex ordering, distance from a point to a reference point, discrete wavelet transformation, and the like. The method aims at random point increase, simplification and clipping attack robustness in a large scale of three-dimensional point cloud data, and has high algorithm complexity.
Grid division is a common method for resisting clipping attacks, three-dimensional point cloud data are divided into a plurality of independent data units through grid division, and watermark information is embedded in blocks, so that clipping attacks can be effectively resisted.
The data normalization process is widely applied to data processing, so that the data has uniformity and comparability. Because different spatial data units are inconsistent, in order to embed watermark information in different types of geospatial data, normalization processing is required to be performed on the data before watermark information is embedded, and meanwhile, the data can be provided with translation and scaling invariance.
The invention comprehensively utilizes the advantages of grid division and data normalization processing, and provides a three-dimensional point cloud data digital watermarking method using grid division, which realizes copyright protection of three-dimensional point cloud data in the processes of storage, transmission and use.
Disclosure of Invention
In view of the above, the invention provides a digital watermarking method for three-dimensional point cloud data by using grid division, aiming at the problem that the existing digital watermarking method for three-dimensional point cloud data has insufficient robustness to attacks such as random point increase, simplification, clipping and the like. Firstly, projecting three-dimensional point cloud data on a two-dimensional plane along a Z axis, and carrying out uniform grid division; secondly, respectively carrying out normalization processing on vertex coordinates in each grid after the blocking; then, a mapping method is used for establishing a corresponding relation between the normalized X and Y coordinates and watermark information; finally, the watermark information is embedded by modifying the normalized Z coordinate by using the QIM method. By using the block embedding and mapping method, the robustness of the algorithm is enhanced, and the blind detection of the watermark can be realized. The method has good robustness to common attacks such as translation, scaling, random point increasing, simplification, clipping and the like, has good invisibility, and provides a new solution for copyright protection of three-dimensional point cloud data.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
1. a three-dimensional point cloud data digital watermarking method using grid division comprises three parts of watermark information generation, watermark embedding and watermark extraction:
the watermark information generation steps are as follows:
s1: reading an original binary watermark image, and applying Arnold transformation to disorder the watermark image;
s2: binarizing the obtained watermark image to obtain a binary sequence;
the watermark embedding step is as follows:
s3: original three-dimensional point cloud data are read, and grid division is carried out on the original three-dimensional point cloud data;
s4: respectively carrying out normalization processing on X, Y and Z coordinates of point cloud data in each grid;
s5: amplifying the normalized X and Y coordinates, and then calculating an index value;
s6: expanding the normalized Z coordinate to obtain Z', and embedding watermark information by using a QIM method;
s7: performing inverse normalization on Z' to obtain Z coordinate value containing watermark
S7: watermark embedding is carried out on the point cloud data in each grid according to the steps, so that three-dimensional point cloud data containing watermarks are obtained;
the watermark extraction steps are as follows:
s8: carrying out grid division and normalization on the watermark three-dimensional point cloud data obtained in the step S7;
s9: amplifying the normalized X and Y coordinates, and then calculating an index value;
s10: extracting watermark information by adopting a QIM quantization method and a voting principle;
s11: ending;
the method is advanced and scientific, ensures effective extraction of watermark information, has good robustness, and can provide a new scheme for safe use and copyright protection of three-dimensional point cloud data. Experiments show that the method has good robustness to attacks such as geometric transformation, reordering, random point adding, simplification, cutting and the like of the three-dimensional point cloud data, and has good use value.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly introduce the drawings required to be used in the embodiments or the prior art descriptions, it is obvious that the drawings in the following description are only schematic views of the present invention, and other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a three-dimensional point cloud data digital watermarking method using grid division provided by the invention;
FIG. 2 is a diagram of the data used in the experiments provided by the present invention and the Arnold scrambled watermark;
FIG. 3 is a visual result of a test experiment provided by the present invention;
fig. 4 is a watermark attack test result provided by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to describe the technical content, the constructional features, the achieved objects and the achieved effects of the present invention in detail, the following detailed description is made in connection with the specific embodiments.
1. Watermark information generation
Step1, reading an original binary watermark image, and scrambling the watermark image by applying Arnold transformation to obtain a scrambled watermark image;
step2 then binarizes the scrambled watermark image to obtain a binary watermark sequence w= { W [ j ] }, j e [0,l-1];
2. watermark embedding
Step3 data preprocessing. Original three-dimensional point cloud data are read, and the maximum value and the minimum value of X and Y coordinates are calculated to be X respectively max 、X min 、Y max 、Y min . And constructing MBR of the three-dimensional point cloud data on the XY plane. Dividing data into sub-blocks with the size of S=k×m, and respectively embedding watermark information into each sub-block;
step4, calculating the maximum value and the minimum value of the X coordinate and the Y coordinate of each sub-block, respectively carrying out normalization processing on the X coordinate and the Y coordinate, and calculating the maximum value and the minimum value of the X coordinate by adopting the normalization of the Z coordinate;
step5 amplifies the normalized X and Y coordinates by 10 n Multiple, marked as X' n And Y' n Thereby calculating an index value index. The calculation is as follows:
step6 uses QIM method to expand the normalized Z coordinate by 10 u The watermark is embedded after doubling, wherein the watermark embedding method comprises the following steps:
wherein: r is a quantized value, Z 'is a normalized Z coordinate value, Z' is a value after embedding a watermark, and W [ index ] represents a watermark value of the bit;
step7 reduces the Z' after embedding the watermark by 10 u Multiplying and inversely normalizing to obtain Z coordinate value containing watermark;
step8, repeating the steps 4-7 until all the sub-blocks complete watermark embedding, and obtaining three-dimensional point cloud data containing the watermark;
3. watermark extraction
Step9, executing the three-dimensional point cloud data containing the watermark obtained in Step8 in Step 3-5 to obtain normalized X, Y, Z coordinates and index value index;
step10 extracts watermark bits by using a QIM quantization method in the watermark extraction process. Since the watermark is repeatedly embedded in the watermark embedding process, watermark information W' is determined through a voting principle, and the quantized value r takes the same value as the embedded watermark;
step11 converts the extracted watermark information W' into a watermark image.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A three-dimensional point cloud data digital watermarking method using grid division comprises three parts of watermark information generation, watermark embedding and watermark extraction:
the watermark information generation steps are as follows:
s1: reading an original binary watermark image, and applying Arnold transformation to disorder the watermark image;
s2: binarizing the obtained watermark image to obtain a binary watermark sequence;
the watermark embedding step is as follows:
s3: the original three-dimensional point cloud data are read, grid division is carried out on the original three-dimensional point cloud data, the original three-dimensional point cloud data are read, and the maximum value and the minimum value of X and Y coordinates are calculated and respectively are X max 、X min 、Y max 、Y min Building MBR (membrane biological reactor) of three-dimensional point cloud data on an XY plane, dividing the data into S=k×m sub-blocks, and respectively embedding watermark information into each sub-block;
s4: respectively carrying out normalization processing on X, Y and Z coordinates of point cloud data in each grid, wherein the normalization of the Z coordinates adopts the maximum value and the minimum value of X coordinates for calculation;
s5: the normalized X and Y coordinates are amplified and then the index value is calculated, and the normalized X and Y coordinates are amplified by 10 n Multiple, denoted as X ′ n And Y ′ n The index value index is thus calculated as follows:
s6: will be normalizedExpanding Z coordinate after conversion to Z ′ Enlarging the normalized Z coordinate by 10 u Embedding watermark after doubling, and embedding watermark information by using a QIM method, wherein the watermark embedding method comprises the following steps:
;
s7: reducing the Z' after embedding the watermark by 10 u Multiplying and inversely normalizing to obtain Z coordinate value containing watermark;
s8: watermark embedding is carried out on the point cloud data in each grid according to the steps, so that three-dimensional point cloud data containing watermarks are obtained;
the watermark extraction steps are as follows:
s9: carrying out grid division and normalization on the watermark three-dimensional point cloud data obtained in the step S8;
s10: amplifying the normalized X and Y coordinates, and then calculating an index value;
s11: extracting watermark information by adopting a QIM quantization method and a voting principle;
s12: and (5) ending.
2. The method for digital watermarking of three-dimensional point cloud data using grid division according to claim 1, wherein in step S8, watermark embedding is performed using the watermark information generated in steps S1 to S2.
3. The digital watermarking method for three-dimensional point cloud data using grid division according to claim 1 or claim 2, wherein the application scene further comprises copyright protection of the three-dimensional grid data, and the digital watermarking method is characterized in that the copyright of the three-dimensional point cloud data is authenticated by using a watermarking technology.
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