3, MARCH 2006
Abstract—A novel reversible data hiding algorithm, which can some legal considerations. In other applications, such as remote
recover the original image without any distortion from the marked sensing and high-energy particle physical experimental investi-
image after the hidden data have been extracted, is presented gation, it is also desired that the original cover media can be
in this paper. This algorithm utilizes the zero or the minimum
points of the histogram of an image and slightly modifies the pixel recovered because of the required high-precision nature. The
grayscale values to embed data into the image. It can embed more marking techniques satisfying this requirement are referred to
data than many of the existing reversible data hiding algorithms. as reversible, lossless, distortion-free, or invertible data hiding
It is proved analytically and shown experimentally that the peak techniques. Reversible data hiding facilitates immense possi-
signal-to-noise ratio (PSNR) of the marked image generated by bility of applications to link two sets of data in such a way that
this method versus the original image is guaranteed to be above
48 dB. This lower bound of PSNR is much higher than that of all the cover media can be losslessly recovered after the hidden data
reversible data hiding techniques reported in the literature. The have been extracted out, thus providing an additional avenue of
computational complexity of our proposed technique is low and handling two different sets of data.
the execution time is short. The algorithm has been successfully Obviously, most of the existing data hiding techniques are not
applied to a wide range of images, including commonly used
reversible. For instance, the widely utilized spread-spectrum
images, medical images, texture images, aerial images and all of
the 1096 images in CorelDraw database. Experimental results based data hiding methods (e.g., [2]–[5]) are not invertible owing
and performance comparison with other reversible data hiding to truncation (for the purpose to prevent over/underflow) error
schemes are presented to demonstrate the validity of the proposed and round-off error. The well-known least significant bit plane
algorithm. (LSB) based schemes (e.g., [6] and [7]) are not lossless owing
Index Terms—Histogram modification, reversible (lossless) data to bit replacement without “memory.” Another category of
hiding, watermarking. data hiding techniques, quantization-index-modulation (QIM)
based schemes (e.g., [8] and [9]), are not distortion-free owing
to quantization error.
I. INTRODUCTION
Recently, some reversible marking techniques have been
Fig. 2. Lena image: (a) original, and (b) marked (PSNR = 48:2 dB).
Fig. 7. (cont’d) Some test image examples and their histogram. (a) Baboon;
(b) boat; (c) medical image; (d) texture image; (e) CorelDraw image; I; (f)
Fig. 7. Some test image examples and their histogram. (a) Baboon; (b) boat; CorelDraw image II; (g) aerial image.
(c) medical image; (d) texture image; (e) CorelDraw image; I; (f) CorelDraw
image II; (g) aerial image.
2) Scan the image again, for any pixel whose grayscale value
, the pixel value is subtracted by 1.
data embedding capacity versus the visual quality of the marked 3) If there is overhead bookkeeping information found in
image. the extracted data, set the pixel grayscale value (whose
coordinate is saved in the overhead) as .
C. Pseudocode Extraction Algorithm In this way, the original image can be recovered without any
For the sake of brevity, only the simple case of one pair of distortion.
minimum point and maximum point is described here because,
as shown above, the general cases of multiple pairs of maximum D. Embedding and Extraction Flow Charts
and minimum points can be decomposed as a few one pair cases. In summary, the proposed reversible data hiding and extrac-
That is, the multiple pair case can be treated as the multiple tion algorithms can be illustrated by the flow charts shown in
repetition of the data extraction for one pair case. Figs. 4 and 5, respectively.
Assume the grayscale value of the maximum point and the
minimum points are and , respectively. Without loss of gen- E. Lower Bound of the PSNR of a Marked Image Versus the
erality, assume . The marked image is of size , Original Image
each pixel grayscale value . The lower bound of the PSNR of a marked image gener-
1) Scan the marked image in the same sequential order as ated by our proposed algorithm versus the original image can
that used in the embedding procedure. If a pixel with its be proved larger than 48 dB as follows.
grayscale value is encountered, a bit “1” is extracted. It is clearly observed from the embedding algorithm that the
If a pixel with its value is encountered, a bit “0” is ex- pixels whose grayscale values are between the minimum point
tracted. and the maximum point will be either added or subtracted by
NI et al.: REVERSIBLE DATA HIDING 359
TABLE II
TEST RESULTS FOR EIGHT MEDICAL IMAGES
TABLE III
TEST RESULTS FOR SIX TEXTURE IMAGES
Fig. 7. (cont’d)Some test image examples and their histogram. (a) Baboon;
(b) boat; (c) medical image; (d) texture image; (e) CorelDraw image; I; (f)
CorelDraw image II; (g) aerial image. TABLE IV
TEST RESULTS FOR SIX AERIAL IMAGES
TABLE I
EXPERIMENTAL RESULTS FOR SOME COMMONLY USED IMAGE
TABLE V
TEST RESULTS FOR ALL OF THE 1096 IMAGES IN CORELDRAW DATABASE
TABLE VI
OVERALL COMPARISON BETWEEN OTHER REVERSIBLE MARKING METHODS [10], [11], [13], [14], [16], [17] AND OUR PROPOSED METHOD. NOTE THAT THE
PURE PAYLOAD AND THE PSNR OF GOLJAN’S METHOD ARE ESTIMATED AVERAGED VALUES WHEN THE EMBEDDING AMPLITUDE IS FOUR
TABLE VII
COMPARISON BETWEEN OTHER REVERSIBLE MARKING METHODS AND OUR PROPOSED METHOD ON TWO TYPICALLY DIFFERENT IMAGES: LENA AND BABOON.
NOTE THAT THE PURE PAYLOAD AND THE PSNR OF GOLJAN et al.’S METHOD ARE ESTIMATED AVERAGED VALUES WHEN THE EMBEDDING AMPLITUDE IS FOUR,
AND THE DATA OF VLEESCHOUWER et al.’S METHOD IS OBTAINED BY USING OUR IMPLEMENTATION OF THEIR ALGORITHM
the pure payload, i.e., the amount of overhead information has [14] C. De Vleeschouwer, J. F. Delaigle, and B. Macq, “Circular interpreta-
been excluded. tion on histogram for reversible watermarking,” in IEEE Int. Multimedia
Signal Process. Workshop, France, Oct. 2001, pp. 345–350.
Overall comparison between the existing reversible marking [15] Y. Q. Shi, Z. Ni, D. Zou, and C. Liang, “Lossless data hiding: funda-
techniques and the proposed technique in terms of pure payload mentals, algorithms and applications,” in IEEE Int. Symp. Circuits Syst.,
and the PSNR is presented in Table VI. Comparison results on Vancouver, Canada, May 2004, pp. 33–36.
[16] M. Goljan, J. Fridrich, and R. Du, “Distortion-free data embedding,” in
two typically different images, Lena and Baboon, which often Proc. 4th Inf. Hiding Workshop, Pittsburgh, PA, Apr. 2001, pp. 27–41.
lead to different data embedding performances, are presented [17] G. Xuan, J. Zhu, J. Chen, Y. Q. Shi, Z. Ni, and W. Su, “Distortionless
in Table VII. From these comparisons, it is observed that our data hiding based on integer wavelet transform,” IEE Electron. Lett., vol.
38, no. 25, pp. 1646–1648, Dec. 2002.
proposed technique has achieved the highest lower bound of the [18] A. R. Calderbank, I. Daubechies, W. Sweldens, and B. Yeo, “Wavelet
PSNR with a quite large data embedding capacity. transforms that map integers to integers,” Appl. Comput. Harmonic
Anal., vol. 5, no. 3, pp. 332–369, 1998.
[19] I. Daubechies and W. Sweldens, “Factoring wavelet transforms into
IV. CONCLUSIONS lifting steps,” J. Fourier Anal. Appl., vol. 4, pp. 247–269, 1998.
[20] M. U. Celik, G. Sharma, A. M. Tekalp, and E. Saber, “Reversible data
Our proposed reversible data hiding technique is able to hiding,” in Proc. IEEE Int. Conf. Image Process., vol. 2, Sep. 2002, pp.
157–160.
embed about 5–80 kb into a 512 512 8 grayscale image
while guaranteeing the PSNR of the marked image versus the
original image to be above 48 dB. In addition, this algorithm
can be applied to virtually all types of images. In fact, it has
been successfully applied to many frequently used images, Zhicheng Ni received the B.E. degree in electrical
engineering from Southeast University, Nanjing,
medical images, texture images, aerial images, and all of the China, and received the M.E. degree in electrical
1096 images in the CorelDRAW database. Furthermore, this engineering from Nanyang Technological Univer-
algorithm is quite simple, and the execution time is rather sity, Singapore, in 1994 and 2000, respectively. He
received the Ph.D. degree in electrical engineering
short. Therefore, its overall performance is better than many from New Jersey Institute of Technology, Newark,
existing reversible data hiding algorithms. It is expected that NJ, in 2004.
this reversible data hiding technique will be deployed for a wide From 1994 to 1998, he was an Electronic Engi-
neer in the Power Research Institute, China. He is
range of applications in the areas such as secure medical image currently a Senior Research and Software Engineer
data systems, and image authentication in the medical field and in WorldGate, Trevose, PA. His research interests include digital watermarking,
law enforcement, and the other fields where the rendering of image data hiding, computer vision, document image processing, authentica-
tion, video compression, DSP. He has three patents and three journal papers.
the original images is required or desired.
REFERENCES
[1] W. Zeng, “Digital watermarking and data hiding: technologies and ap- Yun-Qing Shi (M’90–SM’93–F’05) received the
plications,” in Proc. Int. Conf. Inf. Syst., Anal. Synth., vol. 3, 1998, pp. B.S. and M.S. degrees from the Shanghai Jiao Tong
223–229. University, Shanghai, China, and the M.S. and Ph.D.
[2] J. Cox, J. Kilian, T. Leighton, and T. Shamoon, “Secure spread spectrum degrees from the University of Pittsburgh, PA.
watermarking for multimedia,” IEEE Trans. Image Process., vol. 6, no. He joined the Department of Electrical and
12, pp. 1673–1687, Dec. 1997. Computer Engineering, New Jersey Institute of
[3] A. Z. Tirkel, C. F. Osborne, and R. G. Van Schyndel, “Image water- Technology, Newark, NJ, in 1987, where he is
marking-a spread spectrum application,” in Proc. IEEE 4th Int. Symp. currently a Professor. His research interests include
Spread Spectrum Techn. Applicat., vol. 2, Sep. 1996, pp. 785–789. visual signal processing and communications, digital
[4] J. Huang and Y. Q. Shi, “An adaptive image watermarking scheme based multimedia data hiding and information assurance,
on visual masking,” Electron. Lett., vol. 34, no. 8, pp. 748–750, 1998. applications of digital image processing, computer
[5] J. Huang, Y. Q. Shi, and Y. Shi, “Embedding image watermarks in DC vision and pattern recognition to industrial automation and biomedical engi-
component,” IEEE Trans. Circuits Syst.: Video Technol., vol. 10, no. 6, neering, theory of multidimensional systems and signal processing. Some of
pp. 974–979, Sep. 2000. his research projects are currently supported by several federal and New Jersey
[6] J. Irvine and D. Harle, Data Communications and Networks: An Engi- State funding agencies. He is an author/coauthor of more than 170 papers in his
neering Approach. New York: Wiley, 2002. research areas, a book on image and video compression, three book chapters
[7] M. M. Yeung and F. C. Mintzer, “Invisible watermarking for image ver- on image data hiding, and one book chapter on digital image processing. He
ification,” Electron. Imag., vol. 7, no. 3, pp. 578–591, Jul. 1998. holds two U.S. patents and has eight U.S. patents pending.
[8] B. Chen and G. W. Wornell, “Quantization index modulation: a class of Dr. Shi is an IEEE Fellow for his contribution to multidimensional signal
provably good methods for digital watermarking and information em- processing, the chairman of Signal Processing Chapter of IEEE North Jersey
bedding,” IEEE Trans. Inf. Theory, vol. 47, no. 4, pp. 1423–1443, May Section, the founding Editor-in-Chief of Springer LNCS Transactions on Data
2001. Hiding and Multimedia Security, an Editorial Board Member of International
[9] F. Perez-Gonzlez and F. Balado, “Quantized projection data hiding,” in Journal of Image and Graphics, a member of IEEE Circuits and Systems So-
Proc. IEEE Int. Conf. Image Process., vol. 2, Sep. 2002, pp. 889–892. ciety (CAS-S) Technical Committee of Visual Signal Processing and Commu-
[10] C. W. Honsinger, P. Jones, M. Rabbani, and J. C. Stoffel, “Lossless Re- nications, Technical Committee of Multimedia Systems and Applications, and
covery of an Original Image Containing Embedded Data,” U.S. Patent Technical Committee of Life Science, Systems and Applications, a member
6 278 791 B1, Aug. 21, 2001. of IEEE Signal Processing Society (SPS) Technical Committee of Multimedia
[11] B. Macq and F. Deweyand, “Trusted headers for medical images,” pre- Signal Processing, an Associate Editor of IEEE TRANSACTIONS ON CIRCUITS
sented at the DFG VIII-D II Watermarking Workshop, Erlangen, Ger- AND SYSTEMS—II: EXPRESS BRIEFS. He was an IEEE CAS-S Distinguished
many, Oct. 1999. Lecturer, a General Co-Chair of IEEE 2002 International Workshop on Multi-
[12] W. Bender, D. Gruhl, N. Morimoto, and A. Lu, “Techniques for data media Signal Processing, a formal reviewer of the Mathematical Reviews, an As-
hiding,” IBM Syst. J., vol. 35, no. 3–4, pp. 313–336, 1996. sociate Editor of IEEE TRANSACTIONS ON SIGNAL PROCESSING, and the Guest
[13] J. Fridrich, M. Goljan, and R. Du, “Invertible authentication,” in Proc. Editor of several special issues on several journals, one of the contributing au-
SPIE Security Watermarking Multimedia Contents, San Jose, CA, Jan. thors in the area of Signal and Image Processing to the Comprehensive Dictio-
2001, pp. 197–208. nary of Electrical Engineering.
362 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, VOL. 16, NO. 3, MARCH 2006
Nirwan Ansari (S’78–M’83–SM’94) received the Wei Su (M’89–SM’95) received the B.S degree in
B.S.E.E. (summa cum laude) from the New Jersey electrical engineering and the M.S degree in systems
Institute of Technology (NJIT), Newark, in 1982, the engineering from Shanghai Jiao Tong University,
M.S.E.E. degree from University of Michigan, Ann Shangahi, China, in 1983 and 1997, respectively. He
Arbor, in 1983, and the Ph.D. degree from Purdue received the M. Eng. degree and the Ph.D. degree in
University, West Lafayette, IN, in 1988. electrical engineering from The City University of
He joined the Department of Electrical and Com- New York, New York, in 1992. He also took many
puter Engineering, NJIT, as an Assistant Professor in graduate courses and conducted research at New
1988, and has been a Full Professor since 1997. He Jersey Institute of Technology, Newark, NJ.
authored Computational Intelligence for Optimiza- He is currently a Research Engineer and Project
tion (Kluwer, 1997) with E.S.H. Hou and translated Leader in the U.S. Army Communication Elec-
into Chinese in 2000, and coedited Neural Networks in Telecommunications tronics Research Development and Engineering Center, Fort Monmouth, NJ.
(Kluwer, 1994) with B. Yuhas. He has frequently been invited to give talks and His research interests include communication intelligence, signal and image
tutorials. His current research focuses on various aspects of broad-band net- processing, and automatic control.
works and multimedia communications. He has also contributed over 250 pub- Dr. Su was a recipient of the 2002 Thomas Alva Edition Patent Award, a
lications in refereed journals, edited books, and conferences. recipient of 2004 AOC International Research and Development Award, and a
Dr. Ansari is a Senior Technical Editor of the IEEE Communications Mag- recipient of 2005 Army Research and Development Award.
azine, the ETRI Journal, and the Journal of Computing and Information Tech-
nology. He initiated (as the General Chair) the First IEEE International Con-
ference on Information Technology: Research and Education (ITRE2003), was
instrumental, while serving as its Chapter Chair, in rejuvenating the North Jersey
Chapter of the IEEE Communications Society which received the 1996 Chapter
of the Year Award and a 2003 Chapter Achievement Award, served as Chair of
the IEEE North Jersey Section and in the IEEE Region 1 Board of Governors
during 2001-2002, and has been serving in various IEEE committees including
as TPC Chair/Vice-chair of several conferences. He was the 1998 recipient of
the NJIT Excellence Teaching Award in Graduate Instruction, and a 1999 IEEE
Region 1 Award. He is frequently invited to deliver keynote addresses, tutorials,
and talks. He has been selected as an IEEE Communications Society Distin-
guished Lecturer (2006-2007)..