Ingemar J. Cox

Secure spread spectrum watermarking for multimedia

This paper presents a secure (tamper-resistant) algorithm for watermarking images, and a methodology for digital watermarking that may be generalized to audio, video, and multimedia data. We advocate that a watermark should be constructed as an independent and identically distributed (i.i.d.) Gaussian random vector that is imperceptibly inserted in a spread-spectrum-like fashion into the perceptually most significant spectral components of the data. We argue that insertion of a watermark under this regime makes the watermark robust to signal processing operations (such as lossy compression, filtering, digital-analog and analog-digital conversion, requantization, etc.), and common geometric transformations (such as cropping, scaling, translation, and rotation) provided that the original image is available and that it can be successfully registered against the transformed watermarked image. In these cases, the watermark detector unambiguously identifies the owner. Further, the use of Gaussian noise, ensures strong resilience to multiple-document, or collusional, attacks. Experimental results are provided to support these claims, along with an exposition of pending open problems.

The Bayesian image retrieval system, PicHunter: theory, implementation, and psychophysical experiments

This paper presents the theory, design principles, implementation and performance results of PicHunter, a prototype content-based image retrieval (CBIR) system. In addition, this document presents the rationale, design and results of psychophysical experiments that were conducted to address some key issues that arose during PicHunters development. The PicHunter project makes four primary contributions to research on CBIR. First, PicHunter represents a simple instance of a general Bayesian framework which we describe for using relevance feedback to direct a search. With an explicit model of what users would do, given the target image they want, PicHunter uses Bayess rule to predict the target they want, given their actions. This is done via a probability distribution over possible image targets, rather than by refining a query. Second, an entropy-minimizing display algorithm is described that attempts to maximize the information obtained from a user at each iteration of the search. Third, PicHunter makes use of hidden annotation rather than a possibly inaccurate/inconsistent annotation structure that the user must learn and make queries in. Finally, PicHunter introduces two experimental paradigms to quantitatively evaluate the performance of the system, and psychophysical experiments are presented that support the theoretical claims.

Rotation, scale, and translation resilient watermarking for images

Many electronic watermarks for still images and video content are sensitive to geometric distortions. For example, simple rotation, scaling, and/or translation (RST) of an image can prevent blind detection of a public watermark. In this paper, we propose a watermarking algorithm that is robust to RST distortions. The watermark is embedded into a one-dimensional (1-D) signal obtained by taking the Fourier transform of the image, resampling the Fourier magnitudes into log-polar coordinates, and then summing a function of those magnitudes along the log-radius axis. Rotation of the image results in a cyclical shift of the extracted signal. Scaling of the image results in amplification of the extracted signal, and translation of the image has no effect on the extracted signal. We can therefore compensate for rotation with a simple search, and compensate for scaling by using the correlation coefficient as the detection measure. False positive results on a database of 10,000 images are reported. Robustness results on a database of 2000 images are described. It is shown that the watermark is robust to rotation, scale, and translation. In addition, we describe tests examining the watermarks resistance to cropping and JPEG compression.

An efficient implementation of Reid's multiple hypothesis tracking algorithm and its evaluation for the purpose of visual tracking

An efficient implementation of Reids multiple hypothesis tracking (MHT) algorithm is presented in which the k-best hypotheses are determined in polynomial time using an algorithm due to Murly (1968). The MHT algorithm is then applied to several motion sequences. The MHT capabilities of track initiation, termination, and continuation are demonstrated together with the latters capability to provide low level support of temporary occlusion of tracks. Between 50 and 150 corner features are simultaneously tracked in the image plane over a sequence of up to 51 frames. Each corner is tracked using a simple linear Kalman filter and any data association uncertainty is resolved by the MHT. Kalman filter parameter estimation is discussed, and experimental results show that the algorithm is robust to errors in the motion model. An investigation of the performance of the algorithm as a function of look-ahead (tree depth) indicates that high accuracy can be obtained for tree depths as shallow as three. Experimental results suggest that a real-time MHT solution to the motion correspondence problem is possible for certain classes of scenes.

Blanche-an experiment in guidance and navigation of an autonomous robot vehicle

The principal components and capabilities of Blanche, an autonomous robot vehicle, are described. Blanche is designed for use in structured office or factory environments rather than unstructured natural environments, and it is assumed that an offline path planner provides the vehicle with a series of collision-free maneuvers, consisting of line and arc segments, to move the vehicle to a desired position. These segments are sent to a low-level trajectory generator and closed-loop motion control. The controller assumes accurate knowledge of the vehicles position. Blanches position estimation system consists of a priori map of its environment and a robust matching algorithm. The matching algorithm also estimates the precision of the corresponding match/correction that is then optimally (in a maximum-likelihood sense) combined with the current odometric position to provide an improved estimate of the vehicles position. The system does not use passive or active beacons. Experimental results are reported. >

Watermarking as communications with side information

Several authors have drawn comparison between embedded signaling or watermarking and communications, especially spread-spectrum communications. We examine the similarities and differences between watermarking and traditional communications. This comparison suggests that watermarking most closely resembles communications with side information at the transmitter and or detector, a configuration originally described by Shannon (1958). This leads to several novel characteristics and insights regarding embedded signaling which are discussed in detail.

A maximum-flow formulation of the N-camera stereo correspondence problem

This paper describes a new algorithm for solving the N-camera stereo correspondence problem by transforming it into a maximum-flow problem. Once solved, the minimum-cut associated to the maximum-flow yields a disparity surface for the whole image at once. This global approach to stereo analysis provides a more accurate and coherent depth map than the traditional line-by-line stereo. Moreover, the optimality of the depth surface is guaranteed and can be shown to be a generalization of the dynamic programming approach that is widely used in standard stereo. Results show improved depth estimation as well as better handling of depth discontinuities. While the worst case running time is O(n/sup 2/d/sup 2/log(nd)), the observed average running time is O(n/sup 1.2/ d/sup 1.3/) for an image size of n pixels and depth resolution d.

A Maximum Likelihood Stereo Algorithm

A stereo algorithm is presented that optimizes a maximum likelihood cost function. The maximum likelihood cost function assumes that corresponding features in the left and right images are normally distributed about a common true value and consists of a weighted squared error term if two features are matched or a (fixed) cost if a feature is determined to be occluded. The stereo algorithm finds the set of correspondences that maximize the cost function subject to ordering and uniqueness constraints. The stereo algorithm is independent of the matching primitives. However, for the experiments described in this paper, matching is performed on the

Autonomous robot vehicles

cf4

A Secure, Robust Watermark for Multimedia

individual pixel intensities.