96 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO.

1, JANUARY 2005

Transactions Letters________________________________________________________________
Image Adaptive Watermarking Using Wavelet Domain Singular Value
Decomposition
Paul Bao and Xiaohu Ma

Abstract—In this letter, we propose a novel, yet simple, In 1997, Xia et al. [2] proposed a multiresolution water-
image-adaptive watermarking scheme for image authentication marking method by inserting pseudorandom codes to the
by applying a simple quantization-index-modulation process large coefficients at the high- and middle-frequency bands
on wavelet domain singular value decomposition. Unlike the
traditional wavelet-based watermarking schemes where the wa- of the dicrete wavelet transform (DWT) of an image. Their
termark bits are embedded directly on the wavelet coefficients, watermarking method is robust to some common image com-
the proposed scheme is based on bit embedding on the singular pressions and halftoning but the detection of the watermark
value (luminance) of the blocks within wavelet subband of the is dependent on the noise level in an image. Inoue et al.
original image. To improve the fidelity and the perceptual quality
of the watermarked image and to enhance the security of water-
[3] proposed a watermarking scheme by classifying wavelet
marking, we model the adaptive quantization parameters based coefficients as insignificant or significant using zerotree and
on the statistics of blocks within subbands. The scheme is robust then embedding a watermark in the location of insignificant
against JPEG compression but extremely sensitive to malicious coefficients or in the location of the thresholded significant
manipulation such as filtering and random noising. Watermark coefficients at the coarser scales. Xie et al. [4] proposed a
detection is efficient and blind in the sense only the quantization
parameters but not the original image are required. The quantiza- scheme combining watermarking with wavelet compression by
tion parameters adaptive to blocks are vector quantized to reduce engraving a watermark in the wavelet coefficients and encoding
the watermarking overhead. the watermarked coefficients using SPIHT compression algo-
Index Terms—Fragile watermarking, singular value decomposi- rithm. Their method is nonadaptive and may alter the original
tion (SVD), statistic modeling, wavelet. frequency correlations of the images. Tsai et al. [5] proposed
a watermarking scheme which utilizes the wavelet domain
I. INTRODUCTION image frequency components and the chaotic transformation to
select the location during the watermark embedding. Vehel et

T HE ADVENT of the Internet and the advancement of

digital technologies in the past decade have enabled
numerous applications in the areas of the multimedia com-
al. [6] presented a digital image watermarking by modifying
certain subsets of the wavelet packet decomposition, deter-
mined from a secret key and an image dependent procedure. Hu
munications and multimedia networking. While one of the et al. [7] proposed a watermarking scheme using pixel-based
great advantages of digital data is that it can be reproduced scaling, where the scaling factors for the pixel-based method
losslessly, it is also vulnerable to imperceptive modification are adaptively determined by the effect of luminance and
and malicious tampering. Thus, the authentication and the local spatial characteristics. Taskovski et al. [8] presented a
copyright protection from unauthorized manipulation of digital low-resolution content-based watermarking scheme, where the
audio, image, and video data become an essential concern in watermark is embedded in the lowest resolution of three-level
the digital multimedia era. Digital watermarking [1] has at- wavelet decomposition incorporated with a visual modeling
tracted considerable attention and seen numerous applications of the local image characteristics. Besides the aforementioned
recently. An effective authentication scheme should possess watermarking schemes based on the structural distribution in
the following characteristics: transparency, robustness to com- wavelet domain for watermark embedding, schemes based on
pressions, sensitivity (fragility) to malicious manipulation, and the human perceptual modeling of the wavelet coefficients were
blind detection of watermarks. Among the several categories
also proposed. Wei et al. [9] introduced a perceptually based
of watermarking schemes, the wavelet-based watermarking
watermarking technique where the watermark is inserted in the
schemes and image-adaptive watermarking schemes are of
wavelet coefficients so that watermark noise does not exceed
great interest due to their impressive performance in trans-
the just-noticeable difference of each wavelet coefficient. Barni
parency, robustness, sensitivity, and blind detection for the
et al. [10] proposed a watermarking algorithm based on the
various applications.
masking of the watermark according to the characteristics of
Manuscript received April 22, 2003; revised July 27, 2003. This paper was the human visual system (HVS).
recommended by Associte Editor E. Izquierdo.
P. Bao is with the School of Computer Engineering, Nanyang Technological In all the previous wavelet-based watermarking schemes, the
University, 639798 Singapore (e-mail: [email protected]). watermark bits would be directly embedded in the locations of
X. Ma is with the Department of Computer Science, Xuzhou Normal Univer-
sity, Xuzhou 221004, China (e-mail: [email protected]). the wavelet coefficients determined by the various modeling.
Digital Object Identifier 10.1109/TCSVT.2004.836745 While the watermarks embedded in the wavelet coefficients
1051-8215/$20.00 © 2004 IEEE

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005 97

may be able to preserve the visual perceptions of the original quantization, it is extremely robust to the JPEG compressions. On
images, it is vulnerable to compressions since the watermarked the other hand, the watermarks so embedded are very fragile to
coefficients may be subject to thresholding and quantization in any malicious manipulations such as filtering or random noising
the compression process, thus damaging the watermark bits. since any manipulation attempt would most probably damage
Aiming at the indirect watermarking embedding, Gorodetski et watermark bits in all the subbands, thus destroy the authenticity
al. [11] proposed a simple singular value decomposition (SVD) of the watermark. The watermark detection in our scheme is
domain watermarking scheme by embedding the watermark blind, i.e., only the quantization parameters but not the original
to the singular values (SVs) of the images, to achieve a better watermark image are needed. Furthermore, since the watermark
transparency and robustness. But the method is not image adap- embedding is based on the quantization of the SV of blocks where
tive and unable to offer a consistent perceptual transparency of the quantization parameters are modeled by the block statistics in
watermarking for different images. Liu et al. [12] presented a the wavelet domain, it is, thus, impossible to maliciously detect
robust SVD domain watermarking scheme where a watermark the watermark without the quantization parameters.
(in the form of a matrix) is added to the singular value matrix of
the watermarking image in spatial domain. Liu’s scheme offers II. WATERMARKING BASED ON SVD
good security against tampering and common manipulations for
A grayscale digital image is specified by an matrix
protecting rightful ownership. But since the scheme is designed
. If a color image is represented in RGB then it
for the rightful ownership protection, where the robustness
can be converted to the corresponding luminance matrix
against manipulations is desired, it is suitable for authentication.
. An arbitrary matrix can be repre-
The scheme is also nonadaptive thus unable to offer a consistent
sented by its SVD in the following form:
perceptual transparency of watermarking for different images.
Chen et al. [13], [14] introduced a framework for charactering (1)
the inherent tradeoffs between the robustness of the embedding,
the degradation to the host image, and the amount of data em- where and are orthogonal and matrices,
bedded and designed a framework of information embedding respectively, and is a diagonal matrix with nonnegative ele-
systems, namely quantization index modulation (QIM), aiming at ments. Diagonal terms of matrix are SVs of
optimizing the rate-distortion-robustness tradeoffs. They devel- matrix and is the rank of matrix . SVD possesses sev-
oped a method, the dither modulation, to realize and demonstrate eral attractive mathematical properties, one of which is that each
the QIM framework, where the embedded information would SV specifies the luminance of the SVD image layer, whereas
modulate the dither signal of a dithered quantizer. The QIM the respective pair of singular vectors specifies intrinsic geom-
schemes can achieve an optimal tradeoff between the embedding etry properties of images. It was discovered that slight varia-
rate, the distortion and the robustness by freely adjusting the tions of SVs do not affect the visual perception of the cover
number of quantizers, the quantization steps and the minimum image, which motivates the watermarking embedding through
distance, respectively, for different requirements such as robust- slight modifications of SVs in the segmented images.
ness to a known manipulation. But the QIM schemes manipulate The proposed scheme is briefly described as follows. An
the quantization-index modulation directly in the original signal image represented in matrix format is segmented into blocks
domain and fail to take the advantages offered by wavelet-based of size (in our experiment, is generally set to 4) and
or other indirect watermarking schemes in achieving a better the SVD for each of the blocks is performed. Then, one bit of
performance in all the characteristics. data is embedded through a slight modification of the SV of
Synthetically, it seems that none of the schemes could si- the block. Let be the current bit of the watermark image to
multaneously offer the characteristics of adaptive transparency, be embedded into this block . The embedding algorithm is
robustness to compressions, sensitivity to malicious manipula- described as follows.
tion and blind detection of watermarks. To address this issue, we 1) Segment the image into blocks of size ,
design a novel image-adaptive watermarking scheme for image , where is the number of the blocks.
authentication by applying a quantization-index-modulation 2) Compute , where ,
process on the SVs of the images in wavelet-domain in this is a vector formed by the SVs of each block .
letter. In this scheme, the watermark bits are embedded on the 3) Compute integer number , where is the
SVs in the SVD layers for each of the wavelet domain blocks, quantization step for corresponding to the block .
with the quantization steps adaptive to the statistical model 4) Embed one bit of watermark image as follows.
of the block, which ensures that the overall luminance change If , then
be minimized and perceptually unnoticeable. The block size, If is odd number, then
together with the weighting parameters and the minimum and ELSE remains unchanged
maximum quantization steps, would determine how well a block If , then
could be modeled statistically leading to a unified framework for If is even number, then
controlling the transparency, robustness against compressions, Else remains unchanged.
fragility to malicious manipulations, and embedding rate. Since 5) Compute the value and the modified
the watermark is distributed at the luminance (the SVs) in all the SV
subbands where the relative luminance (thus,the watermark) in
wavelet domain would be well preserved during the coefficient

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98 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005

TABLE I
CONSTANT QUANTIZATION STEP d: THE QUALITY OF WATERMARKED IMAGE (PSNR) AND BER OF THE EXTRACTED WATERMARKS CORRESPONDING TO
SEVERAL JPEG COMPRESSIONS, RESPECTIVELY

6) Compute the matrix of the block using the modified SV quantization scheme, a watermarking scheme with high trans-
parency and robustness to JPEG compressions can be obtained.
The method can be described as follows.
1) Calculate the standard deviation for each block .
2) Calculate the maximum value and minimum value
7) Reconstruct the watermarked image from all the blocks for all the .
. 3) Compute the quantization step for the block as
It should be noticed that quantization step would be served
as a secret key to ensure the authorized access to the watermark. (2)
The extraction of the watermark is straightforward. Let be a
block with an embedded watermark bit. where is the number of all blocks, and are
1) Segment watermarked image into blocks of size minimum and maximum quantization step values, respec-
, , where is the number of the blocks. tively, specifiable by user.
2) Compute the value , , Table II gives some comparison results with the basic algorithm
where is a vector formed by the SV of in Section III and Fig. 2 gives the visual examples of the water-
each block . marked images, where 9 and 36 or 45.
3) Compute . Note from Table II that the BERs increase rapidly as the JPEG
4) If is even number, then the embedded bit is 1. Other- compression ratios. This is because that the watermarking distri-
wise, it is 0. bution is only adaptive to the standard deviation of each block in
the spatial domain. Thus, the SVs of a more spatially structured
block (larger deviation) would be significantly modified which
III. MODELING OF THE QUANTIZATION PARAMETERS may be insignificant in wavelet domain and thus be thresholded.
A. Quantization Parameters Based on Spatial Domain On the other hand, the SVs of a less spatially structural block
Modeling (small deviation) would be slightly modified, which, however,
could be significant in wavelet domain allowing the embedding
For a watermarking scheme, it is desired that the water-
of more watermark information. Thus, the aforementioned wa-
marked images achieve a high PSNR while the watermark can
termarking distribution scheme would result in a less satisfying
be detected and extracted robustly against any compression
transparency and a poor robustness to compressions.
schemes, i.e., possessing a lower bit-error ratio (BER) against
compressions. In the aforementioned SVD-based watermarking
B. Adaptive Quantization Parameters Based on Wavelet
scheme, it is obvious that the increase of the value leads
Domain Modeling
to more robust watermark embedding (lower BER) but poorer
transparency of the watermarked image (lower PSNR) and vice In view of this potential drawback, we propose a set of quanti-
versa. Table I gives the PSNRs of the watermarked images using zation parameters modeled adaptively to both the deviation and
several constant quantization steps and their corresponding the expectation of each block within the wavelet domain where
BERs against JPEG compressions. Fig. 1 shows the visual the SVs for the real structures will be largely modified with wa-
perceptions of the watermarked images for various quantization termarking whereas that of the nonstructural background will be
steps, respectively. slightly modified to ensure a high perceptual quality of water-
From Table I, it can be observed that the perceptual quality of marked image and a low BER of the detected watermark. The
watermarked image is reversely proportional to the robustness scheme is detailed as follows.
against JPEG compression. In order to preserve the high percep- 1) An image is transformed into wavelet subbands. In each of
tual quality of the watermarked image while retaining a good the subbands, the coefficients are segmented into blocks
robustness to JPEG compression, we propose an image-adap- of size and SVDs for each of the blocks are com-
tive quantization for image watermarking. With this adaptive puted.

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005 99

Fig. 1. Visual appearances of the watermarked images obtained by constant quantization steps. (a) Watermark image. (b)–(c) Two original images. (b1)–(b3)
Watermarked images corresponding to the original image (b) when quantization steps d are set to 9,27, and 54, respectively. (c1)–(c3) Watermarked images
corresponding to (c) when d = 9, 27, and 54, respectively.

TABLE II
IMAGE ADAPTIVE QUANTIZATION STEP d : THE QUALITY OF WATERMARKED IMAGE (PSNR) AND BER OF THE EXTRACTED WATERMARK CORRESPONDING TO
SEVERAL JPEG COMPRESSION RATIOS, RESPECTIVELY

2) Calculate the standard deviation and average value where is the number of the blocks, and and are the
for DWT coefficients of each block . minimum and maximum quantization step values, respectively,
3) Calculate the value for each block specifiable by user.
(3) We model the quantization parameters based on both the ex-
pectation and deviation of the block to capture both the struc-
where and are the weight parameters for and tural and background statistics in quantizing the modification
. of the SV. In our experiment, we set and
4) Calculate the maximum value and minimum value or , and let , . The value is formu-
from all the . lated so that both the baseband and the high-pass bands can be
5) Compute the quantization step for block as follows: watermarked and the modifications of the SVs can be adjusted
(4) using parameters and . Parameter controls the quanti-
zation weighting for the background while for the structures.

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100 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005

TABLE III
THE QUALITY OF WATERMARKED IMAGE (PSNR) AND BER OF THE EXTRACTED WATERMARK CORRESPONDING TO 40% JPEG COMPRESSION FOR DIFFERENT
VALUES OF PARAMETER c AND c , RESPECTIVELY

watermark extraction. The experiment shows that while the

transparency of watermarked images can be well preserved, the
number of the error bits detected in the detected watermark is
very small, an obvious advantage in watermarking applications.
However, these image-adaptive quantization parameters must
be transmitted as the secrete key for the correct extraction of
the embedded watermark from the watermarked image and thus
the size of the quantization parameters would be an overhead
concern if they were not efficiently encoded. In this section, we
propose using the vector quantization to compress the secrete
keys without affecting the effectiveness of the watermarking
scheme.
The vector quantization for the image-adaptive quantization
parameters is described as follows.
1) Create the new range [0,14] from the original range [9,36],
which can be describe as follows:

2) Divide the new quantization parameter matrix into 5 5

subblocks, and arrange each of the subblocks as 5 5 4
vectors.
3) A codebook with size is established using the Gen-
eralized Lloyd algorithm. In our experiment, can be
generally set to 64 or 32.
4) Encode the index of each 5 5 quantization parameter in
the codebook.
The compression ratio and the perceptual quality of the wa-
termarked image are illustrated in Fig. 3 using 200 200 Lena,
Peppers, and Baboon with different codebook sizes. The file size
of the original image Lena (200 200) is 118 KB in bitmap un-
Fig. 2. Experimental results of the wavelet domain image-adaptive compressed format or 37 KB in JPEG compressed format. From
SVD watermarking scheme. (a) Watermark image. (b) Original images. the Fig. 3, it can be observed that the high quality of the water-
(c)Watermarked images with PSNRs 38.6755, 38.3048, 39.3839, 38.9264, and
37.4773, respectively. (d) Detected watermark image from LL band, where marked image can been preserved when and the wa-
d 2 [9; 45] or d 2 [9; 36]. termark key is sized at
kB or at a compression ratio of 80:1 (0.4517:37).
Table II presents the quality of the watermarked image (PSNR)
and the BER of the extracted watermark corresponding to sev- IV. EXPERIMENTAL RESULTS AND DISCUSSIONS
eral JPEG compression ratios, respectively. Table III gives the In this section, experimental results are given to illustrate
quality of the watermarked image (PSNR) and the BER of the the transparency, robustness against JPEG compression and
extracted watermark corresponding to the different values of the fragility against malicious manipulation of the proposed wa-
parameter and . termarking scheme. The perceptual quality of images after
the watermarking insertion is showed. The tolerance of the
C. Vector Quantization of the Quantization Parameters scheme against compressions and the fragility to the various
In the proposed watermarking scheme, the image-adaptive malicious manipulations is experimented. Table II and Fig. 2
quantization parameters are adopted as the secrete keys for the give the respective results. From the Table II and Fig. 2, it can

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005 101

TABLE IV
2
COMPARISONS BETWEEN THE PROPOSED METHOD AND WAVELET BASED WATERMARKING SCHEMES ON 512 512 IMAGES: BER OF THE EXTRACTED
WATERMARK CORRESPONDING TO SEVERAL JPEG COMPRESSION RATIOS, RESPECTIVELY

produces virtually no errors for the extracted watermark while

the simple SVD scheme has a BER between 1.87 and 15.24. For
the compression ratios at 40% or lower, the proposed scheme
starts to generate some errors for the extracted watermarks
but by varying the weight parameters and , we could
minimize the BER for a given PSNR range. Table III shows the
PSNR measurement of the watermarked images at 40% JPEG
compression and different BERs corresponding to different
values of parameter and , respectively, where the optimal
BERs are boldfaced.
Obviously, the transparency of the watermarked images
and the robustness against JPEG compression are closely
related to the number of the embedded bits, thus the size
of blocks. The larger is set, the fewer bits are embedded
resulting in the better transparency (higher PSNR) and robustness
(lower BER). Table IV gives some results when is set
to 8 and the watermark bits are only inserted into the LL
subband, in comparisons with other watermarking schemes
[3], [11]. It can be seen that the proposed scheme significantly
outperforms the simple SVD scheme [11] in BER for various
compression ratios while achieving better visual perceptions
of the watermarked images. And the proposed method also
outperforms the two wavelet-based watermarking schemes [3]
and the QIM method [13] in BERs for various compression
ratios with comparable PSNRs. Note that the PSNR values
achieved are lower compared to those by the wavelet schemes
but the perceptual differences are unnoticeable (PSNRs at 40
Fig. 3. (a)–(b) Watermarked image Lena when S is set to 64 and 32, dB or higher usually lead to excellent visual perceptions).
respectively. (c)–(d) Peppers when S is set to 64 and 32, respectively.
(e)–(f) Baboon when S is set to 64 and 32, respectively. (a) S =
64, Table IV also shows that the proposed scheme could achieve
PSNR = 38:7383. (b) S = 32, PSNR = 38:6065. (c) S = 64, a higher embedding rates than SVD-based, wavelet-based and
PSNR = 38:8181. (d) S = 32, PSNR = 38:7204. (e) S = 64, QIM watermarking schemes. It should be clarified that in
PSNR = 37:0850. (f) S = 32, PSNR = 36:9575.
Table IV, the data by the proposed method and the simple SVD
method are produced by experiment but the corresponding
be observed that the proposed hybrid wavelet domain SVD data by the wavelet and QIM methods are taken directly
watermarking scheme preserves not only the high perceptual from [3], [13]. The PSNR measurements and the robustness
quality of the watermarked image, but also possesses an ex- (BER) against JPEG compressions may vary for different
cellent robustness against the JPEG compression with various wavelets and thus the comparison should be served as a
compression ratios. Compared with the spatial domain SVD reference.
scheme, the proposed scheme achieves extremely low BERs It is also shown that in the proposed scheme the watermark
while retaining high PSNRs even against a compression ratio extracted is very fragile to the malicious manipulations such
as low as 20%. For example, for image Shore, the wavelet SVD as cropping, random noising (Gaussian), and filtering, etc.

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102 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2005

Fig. 4. (a1)–(a2) Modified watermarked images. (b1)–(b2) Detected watermark images corresponding to the LL band. (c1)–(c2) Enlarged detected watermark
images for detecting the malicious modification operation.

Fig. 4 shows that the proposed wavelet domain SVD-based REFERENCES

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