Introduction to Digital Image Processing:
   Vision allows humans to perceive and understand the world surrounding us. Computer vision aims to duplicate the effect of human vision by electronically perceiving and understanding an image. Giving computers the ability to see is not an easy task - we live in a three dimensional (3D) world, and when computers try to analyze objects in 3D space, available visual sensors (e.g., TV cameras) usually give two dimensional (2D) images, and this projection to a lower number of dimensions incurs an enormous loss of information.    In order to simplify the task of computer vision understanding, two levels are usually distinguished; low-level image processing and high level image understanding. Usually very little knowledge about the content of images High level processing is based on knowledge, goals, and plans of how to achieve those goals. Artificial intelligence (AI) methods are used in many cases. High-level computer vision tries to imitate human recognition and the ability to make decisions according to the information contained in the image.   This course deals almost exclusively with low-level image processing, high level in which is a continuation of this course. Age processing is discussed in the course Image Analysis and Understanding, which is a continuation of this course.

1.1 History:
Many of the techniques of digital image processing, or digital picture processing as it was often called, were developed in the 1960s at the Jet Propulsion Laboratory, MIT, Bell Labs, University of Maryland, and few other places, with application to satellite imagery, wire photo standards conversion, medical imaging, videophone, character recognition, and photo enhancement. But the cost of processing was fairly high with the computing equipment of that era. In the 1970s, digital image processing proliferated, when cheaper computers Creating a film or electronic image of any picture or paper form. It is accomplished by scanning or photographing an object and turning it into a matrix of dots (bitmap), the meaning of which is unknown to the computer, only to the human

viewer. Scanned images of text may be encoded into computer data (ASCII or EBCDIC) with page recognition software (OCR).

1.2 Basic Concepts:
 

A signal is a function depending on some variable with physical meaning. Signals can be
o o o o

One-dimensional (e.g., dependent on time), Two-dimensional (e.g., images dependent on two co-ordinates in a plane), Three-dimensional (e.g., describing an object in space), Or higher dimensional.

1.3 Pattern recognition
Pattern recognition is a field within the area of machine learning. Alternatively, it can be defined as "the act of taking in raw data and taking an action based on the category of the data" . As such, it is a collection of methods for supervised learning. Pattern recognition aims to classify data (patterns) based on either a priori knowledge or on statistical information extracted from the patterns. The patterns to be classified are usually groups of measurements or observations, defining points in an appropriate multidimensional space. Are to represent, for example, color images consisting of three component colors.

1.4 Image functions:
 

The image can be modeled by a continuous function of two or three variables; Arguments are co-ordinates x, y in a plane, while if images change in time a third variable t might be added.

 

The image function values correspond to the brightness at image points. The function value can express other physical quantities as well (temperature, pressure distribution, distance from the observer, etc.).

The brightness integrates different optical quantities - using brightness as a basic quantity allows us to avoid the description of the very complicated process of image formation.

The image on the human eye retina or on a TV camera sensor is intrinsically 2D. We shall call such a 2D image bearing information about brightness points an intensity image.

  

The real world, which surrounds us, is intrinsically 3D. The 2D intensity image is the result of a perspective projection of the 3D scene. When 3D objects are mapped into the camera plane by perspective projection a lot of information disappears as such a transformation is not one-to-one.

 

Recognizing or reconstructing objects in a 3D scene from one image is an ill-posed problem. Recovering information lost by perspective projection is only one, mainly geometric, problem of computer vision.

The second problem is how to understand image brightness. The only information available in an intensity image is brightness of the appropriate pixel, which is dependent on a number of independent factors such as

Object surface reflectance properties (given by the surface material, microstructure and marking),

o O

Illumination properties, And object surface orientation with respect to a viewer and light source.

Today's technology allows digital media to be altered and manipulated in ways that were impossible twenty years ago. We are feeling the impact of this technology in nearly every corner of our lives, from the courts to the media, politics, business, and science. As this technology continues to evolve it will become increasingly more important for the science of digital forensics to keep pace. This presentation will describe state of the art techniques in digital image forensics. Digital watermarking has been proposed as a means by which an image can be authenticated. This approach works by inserting at the time of recording an imperceptible digital code (a watermark) into the image. With the assumption that tampering will alter a watermark, an image can be authenticated by verifying that the extracted watermark is the same as that which was inserted. The major drawback of this approach is that a watermark must be inserted at precisely the time of recording, which limits this approach to specially equipped digital cameras. In contrast, recent advances in digital forensics operate in the absence of any watermark or specialized hardware. With the assumption that tampering disturbs certain underlying statistical properties of an image, these forensic techniques can detect specific forms of tampering. Air-brushing or re-touching can be detected by measuring deviations of the underlying color filter array correlations. Specifically, virtually all digital cameras record only a subset of all the pixels needed for a full-resolution color image. Instead, only a subset of the pixels is recorded by a color filter array (CFA) placed atop the digital sensor. The most frequently used CFA, the Bayer array, employs three color filters: red, green, and blue. Since only a single color sample is recorded at each pixel location, the other two color samples must be estimated from the neighboring samples in order to obtain a three-channel color image. The estimation of the missing color samples is referred to as CFA interpolation or demosaicking. In its simplest form, the missing pixels are filled in by spatially averaging the recorded values. Since the CFA is arranged in a periodic pattern, a periodic set of pixels will be precisely correlated to their neighbors according to the CFA interpolation algorithm. When an image is re-touched, it is likely that these correlations will be destroyed. As such, the presence or lack of these correlations can be used to authenticate an image, or expose it as a forgery. A digital composite of two people can be detected by measuring differences in the direction to the illuminating light sources from their faces and body. By making some initial simplifying assumptions about the light and the surface being illuminated, we can mathematically express how much light a surface should receive as a function of its position relative to the light. A surface that is

the signal may be audio. a digital watermark has to be rather robust against modifications that can be applied to the carrier signal. a fragile watermark would be applied. "Watermarking" is the process of hiding digital information in a carrier signal. will be brighter than a surface that is turned away from the light. if integrity has to be ensured. Duplication or cloning is a simple and powerful form of manipulation used to remove objects or people from an image.1. A signal may carry several different watermarks at the same time. Unlike metadata that is added to the carrier signal. DIGITAL WATERMARKING A digital watermark is a kind of marker covertly embedded in a noise-tolerant signal such as audio or image data. a digital watermark does not change the size of the carrier signal. This form of tampering can be detected by first partitioning an image into small blocks. their presence can then be used as evidence of tampering. The blocks are then re-ordered so that they are placed a distance to each other that is proportional to the differences in their pixel colors. pictures. i. standard techniques can be used to determine the direction to the light source for any object or person in an image.directly facing the light. Since it is statistically unlikely to find identical and spatially coherent regions in an image. It is prominently used for tracing copyright infringements and for banknote authentication. Like traditional watermarks. Instead. For marking media files with copyright information. the hidden information should. If a digital watermark distorts the carrier signal in a way that it becomes perceivable. video. The needed properties of a digital watermark depend on the use case in which it is applied. With identical and highly similar blocks neighboring each other in the re-ordered sequence. It is typically used to identify ownership of the copyright of such signal. Once expressed in this form. digital watermarks are only perceptible under certain conditions. . whereas in digital watermarking. a region growing algorithm combines any significant number of neighboring blocks that are consistent with the cloning of an image region. Digital watermarks may be used to verify the authenticity or integrity of the carrier signal or to show the identity of its owners. after using some algorithm. but does not need to contain a relation to the carrier signal. Traditional Watermarks may be applied to visible media (like images or video). for example. and imperceptible anytime else. texts or 3D models. 2. Any inconsistencies in lighting can then be used as evidence of tampering.e. it is of no use.

Both steganography and digital watermarking employ steganographic techniques to embed data covertly in noisy signals. These are known as perceptually based watermarking techniques. and to trace illegal copies of the work. Watermarks of varying degrees of obtrusiveness are added to presentation media as a guarantee of authenticity. It just marks data. Digital watermarking is the process of inserting a digital signal or pattern (indicative of the owner of the content) into digital content. and makes detection. can be used later to identify the owner of the work. digital watermarking is a passive protection tool. by pirates less possible. But whereas steganography aims for imperceptibility to human senses. the owner can still be identified. The media of focus in this paper is the still image. quality. and source. digital watermarking tries to control the robustness as top priority. and transparent. and therefore removal. However. ownership. To be effective in its purpose. . this method is useless in the digital world. One application of digital watermarking is source tracking. There are a variety of image watermarking techniques. but does not degrade it nor controls access to the data. If a copy of the work is found later.2. depending on in which domain the watermark is constructed: the spatial domain (producing spatial watermarks) and the frequency domain (producing spectral watermarks). Robustness requires that it be able to survive any alterations or distortions that the watermarked content may undergo. Within this category. including intentional attacks to remove the watermark. The signal.1 Principle of digital watermarks A watermark on a bank note has a different transparency than the rest of the note when a light is shined on it. known as a watermark. Transparency requires a watermark to be imperceptible so that it does not affect the quality of the content. This technique reportedly has been used to detect the source of illegally copied movies. . In particular. a watermark should adhere to a few requirements. it should be robust. falling into 2 main categories. This is so that afterwards. to authenticate the content. The effectiveness of a watermark is improved when the technique exploits known properties of the human visual system. Since a digital copy of data is the same as the original. and common signal processing alterations used to make the data more efficient to store and transmit.1. A watermark is embedded into a digital signal at each point of distribution. the class of image-adaptive watermarks proves most effective. then the watermark may be retrieved from the copy and the source of the distribution is known.

Basically.1. so that the source as well as the intended recipient of the digital work is known. they all digitally write desired information directly onto images or audio data in such a manner that the images or audio data are not damaged. Digital watermarking is the content protection method for the multimedia era. and that digital watermarking is needed to indicate who the culprit is.Currently there are various techniques for embedding digital watermarks. and satellite-delivered video. video-ondemand systems. Embedding a watermark should not result in a significant increase or reduction in the original data.1.3 PURPOSES OF DIGITAL WATERMARKS Watermarks are a way of dealing with the problems mentioned above by providing a number of services:  They aim to mark digital data permanently and unalterably. They are of the opinion that any encryption system can be broken. This is so that later. Another scenario in which the enforcement of copyright is needed is in newsgathering. and is therefore probable that duplication on the Internet occurs without the rightful owners' permission. The Recording Industry Association of America (RIAA) says that the value of illegal copies of music that are distributed over the Internet could reach $2 billion a year. image's origin and content can be verified. these same opportunities provide ease of access to these works. When digital cameras are used to snapshot an event. they can be embedded in content with a variety of file formats. surveillance imaging. including Internet imaging. digital cameras. including writers. Digital watermarking is being recognized as a way for improving this situation. sooner or later. whether their music is released over the Internet or on DVD-Audio". RIAA reports that "record labels see watermarking as a crucial piece of the copy protection system. image and video databases. 2. Copyright owners can incorporate . digital libraries. medical imaging. the images must be watermarked as they are captured. It is easy to duplicate audio and visual files. photographers. This suggests that there are many applications that could require image watermarking.2 IMPORTANCE OF DIGITAL WATERMARKS The Internet has provided worldwide publishing opportunities to creators of various works. musicians and artists. 2. However. which has resulted in pirating. Furthermore. Digital watermarks are added to images or audio data in such a way that they are invisible or inaudible Ñ unidentifiable by human eye or ear. An example of an area where copyright protection needs to be enforced is in the on-line music industry.

The various applications are:    Authentication Broadcast Monitoring Copy Prevention . Common Signal Processing Operations: They include the followings.5 DIGITAL WATERMARKING APPLICATIONS Digital watermarking is rapid evolving field. In addition.1.1.4 ATTACKS ON WATERMARKS            Lossy Compression: Many compression schemes like JPEG and MPEG can potentially degrade the data’s quality through irretrievable loss of data.  By indicating the owner of the work. this section identifies digital watermarking applications and provides an overview of digital watermarking capabilities and useful benefits to customers. watermarks are used in the protection of ownership. any unauthorized copies that s/he has distributed can be traced back to him/her. D/A conversion. owners are able to find illegal copies of their work on the Internet.  Watermarks can be used to identify any changes that have been made to the watermarked data.  Some more recent techniques are able to correct the alteration as well. Addition of a constant offset to the pixel values Local exchange of pixels other intentional attacks: Printing and Rescanning Watermarking of watermarked image (rewatermarking) 2. A/D conversion Resampling. because each purchaser of the data has a unique watermark embedded in his/her copy. Recompression Linear filtering such as high pass and low pass filtering. translation. Requantization. That is. 2.identifying information into their work.  With a tracking service. scaling and cropping. Geometric Distortions: include such operations as rotation. The presence of a watermark in a work suspected of having been copied can prove that it has been copied. they demonstrate the quality and assure the authenticity of the work.

copyright protection.[1] but not all electronic signatures use digital signatures.  Forensic Tracking E-Commerce/Linking 2.[4] and members of the European Union. MediaSec: Provide software for various media types. Signum: Allow digital fingerprints to be embedded into grahics. audio. but properly implemented digital signatures are more difficult to forge than the handwritten type. some non-repudiation schemes offer a time stamp for the digital signature. Digital signatures are often used to implement electronic signatures. including the United States. Digital signatures employ a type of asymmetric cryptography. Digital signatures can also provide nonrepudiation. Stegnosign: For creating. Digital signature schemes in the sense used here are cryptographically based. further.2 DIGITAL SIGNATURE A digital signature or digital signature scheme is a mathematical scheme for demonstrating the authenticity of a digital message or document. meaning that the signer cannot successfully claim they did not sign a message. and in other cases where it is important to detect forgery or tampering.6 WATERMARKING SOFTWARE&SREVICES      Alpha-Tec: watermarking software for copyright protection and infringement tracking. a broader term that refers to any electronic data that carries the intent of a signature. Digimarc: For document verification. and internet tracking. video e. . a properly implemented digital signature gives the receiver reason to believe the message was sent by the claimed sender. A valid digital signature gives a recipient reason to believe that the message was created by a known sender such that they cannot deny sending it (authentication and non-repudiation) and that the message was not altered in transit (integrity). and must be implemented properly to be effective. Digital signatures are commonly used for software distribution. India. embedding and detecting watermarks.[2][3] In some countries. For messages sent through a nonsecure channel. partial encryption.t. while also claiming their private key remains secret. 2. the signature is valid. electronic signatures have legal significance.c. so that even if the private key is exposed. financial transactions. embedded messages and more. Digital signatures are equivalent to traditional handwritten signatures in many respects.1.

produces a signature. Two main properties are required. The algorithm outputs the private key and a corresponding public key.  A signature verifying algorithm that. The importance of high confidence in sender authenticity is especially obvious in a financial context. When ownership of a digital signature secret key is bound to a specific user. and congressional bills with digital signatures. either accepts or rejects the message's claim to authenticity. Universities including Penn State. digital signatures can provide added assurances of the evidence to provenance.1.Digitally signed messages may be anything representable as a bitstring: examples include electronic mail.1 Uses of Digital Signature As organizations move away from paper documents with ink signatures or authenticity stamps. Secondly. Below are some common reasons for applying a digital signature to communications: 2. a valid signature shows that the message was sent by that user. public key and a signature. given a message and a private key. A digital signature scheme typically consists of three algorithms:  A key generation algorithm that selects a private key uniformly at random from a set of possible private keys. suppose a bank's branch office . a signature generated from a fixed message and fixed private key should verify the authenticity of that message by using the corresponding public key.  A signing algorithm that. public and private laws.2. that information may not be accurate. given a message. For example. The United States Government Printing Office (GPO) publishes electronic versions of the budget. 2. it should be computationally infeasible to generate a valid signature for a party who does not possess the private key.1 Authentication Although messages may often include information about the entity sending a message. First. identity. Digital signatures can be used to authenticate the source of messages. and Stanford are publishing electronic student transcripts with digital signatures. contracts. or a message sent via some other cryptographic protocol.2. University of Chicago. and status of an electronic document as well as acknowledging informed consent and approval by a signatory.

2 Integrity In many scenarios. the sender and receiver of a message may have a need for confidence that the message has not been altered during transmission. The device signature may be in the form of  sensor pattern noise (SPN)  camera response function  Re sampling artifacts  Color filter array  Interpolation artifacts  JPEG compression  Lens aberration  sensor dust . because this is still considered to be computationally infeasible by most cryptographic hash functions (see collision resistance). prevent this. but others do not.3 Non-repudiation Non-repudiation. 2. Similarly. any change in the message after signature will invalidate the signature. access to the public key only does not enable a fraudulent party to fake a valid signature. an entity that has signed some information cannot at a later time deny having signed it.1.2. Although encryption hides the contents of a message.2. If the central office is not convinced that such a message is truly sent from an authorized source. or more specifically non-repudiation of origin. acting on such a request could be a grave mistake.) However. Furthermore.sends instructions to the central office requesting a change in the balance of an account. (Some encryption algorithms. it may be possible to change an encrypted message without understanding it. By this property.1. there is no efficient way to modify a message and its signature to produce a new message with a valid signature. is an important aspect of digital signatures. known as nonmalleable ones. if a message is digitally signed. 2.

the Bayer filter (shown to the right) gives information about the intensity of light in red. so a color translation is required to convert the tristimulus values into a common. The color filters filter the light by wavelength range. absolute color space. Each two-by-two submosaic contains 2 green. The raw image data captured by the image sensor is then converted to a full-color image (with intensities of all three primary colors represented at each pixel) by a demosaicing algorithm which is tailored for each type of color filter. green. and therefore cannot separate color information.CHAPTER 3 COLOR FILTER ARRAY 3. each covering one pixel sensor. or color filter mosaic (CFM). thus all visible colors can be distinguished. Since sensors are made of semiconductors they obey solid-state physics. such that the separate filtered intensities include information about the color of light. The sensor's passbandquantum efficiency and span of the CFA's spectral responses are typically wider than the visible spectrum. a color filter array (CFA). In photography. For example. The responses of the filters do not generally correspond to the CIEcolor matching functions. The spectral transmittance of the CFA elements along with the demosaicing algorithm jointly determine the color rendition. is a mosaic of tiny color filters placed over the pixel sensors of an image sensor to capture color information. . Color filter array The Bayer color filter mosaic. Color filters are needed because the typical photosensors detect light intensity with little or no wavelength specificity. 1 blue and 1 red filter. and blue (RGB) wavelength regions.

and one magenta. Bayer filter RGBE filter CYYM filter CYGM filter RGBW Bayer RGBW #1 2×2 2×2 2×2 2×2 RGBW #2 RGBW #3 Three example RGBW filters from Kodak.  List of color filter arrays Pattern (pixels) 2×2 size Image Name Description Very common RGB filter. green. and two green. one yellow. two yellow.1 Manufacture of the CFA . Bayer-like with one of the green filters modified to "emerald". one green. One cyan. (See Bayer filter#Alternatives) 4×4 2×4 3. This arrangement does not require a demosaicing algorithm because each pixel has information about each color. used in a few Sony cameras. and one magenta. one red. used in a few cameras of Kodak. With one blue. Dick Merrill of Foveon distinguishes the approaches as "vertical color filter" for the Foveon X3 versus "lateral color filter" for the CFA. One cyan.The Foveon X3 sensor uses a different structure such that a pixel utilizes properties of multijunctions to stack blue. with 50% white. used in a few cameras. and red sensors on top of each other. Traditional RGBW similar to Bayer and RGBE patterns.

Color photoresists sometimes used include those with chemical monikers CMCR101R. For instance. moire patterns. durability. with the G filter being an overlap of the Y and C filters.Diazonaphthoquinone (DNQ)-novolacphotoresist is one material used as the carrier for making color filters from color dyes. types. First. the individual CFA filters are usually layers of transmissive (absorptive) organic or pigment dyes." He provides a bibliography focusing on the number.. Theuwissen says "Previously. . A few sources discuss other specific chemical substances. CMCR106G. all single-chip color cameras are provided with an imager which has a color filter on-chip processed (Dillon. Filter materials are manufacturer specific. and spatial frequencies of the absorptive filters. There is some interference between the dyes and the ultraviolet light needed to properly expose the polymer. CMCR101B. via photolithography. Pigment based CFAs have become the dominant option because they offer higher heat resistance and light resistance compared to dye based CFAs. and resistance to humidity and other atmospheric stresses—is a challenging task.[15] The gelatin is sectionalized. Theuwissen makes no mention of the materials utilized in CFA manufacture. CMCR106R. Ensuring that the dyes have the right mechanical properties—such as ease of application. the color filter was fabricated on a separate glass plate and glued to the CCD (Ishikawa 1981). attending optical properties. In either case. Some sources indicate that the CFA can be manufactured separately and affixed after the sensor has been manufactured. CMCR101G. at best. while other sensors have the CFA manufactured directly on the surface of the imager. Nakamura said that materials for on-chip color filter arrays fall into two categories: pigment and dye. and optimal manufacturing processes of color filter arrays. Adams et al. 1982). thicknesses ranging up to 1 micrometre are readily available. and CMCR106B. At least one early example of an on-chip design utilized gelatin filters (Aoki et al. to fine-tune the spectral responsivities. 1978) and not as a hybrid. This makes it difficult. state "Several factors influence the CFA's design. but nowadays.". and subsequently dyed. aliasing effects. though solutions have been found for this problem. Aoki reveals that a CYWG arrangement was used.

Given that the CFAs are deposited on the image sensor surface at the BEOL (back end of line. It can be produced by the sensor and circuitry of a scanner or digital camera. # 5. Solvent Yellow 88. #12715.P. but fail to provide chemical names. On the other hand.S. # 61551. list some 150-200 chemical structures. Gersteltec sells photoresists that possesses color filter properties. 3. some CVD silicon oxide processes are low temperature processes. Image noise is an undesirable by-product of image capture that adds spurious and extraneous information. where a low-temperature regime must be rigidly observed (due to the low melting temperature of the aluminum metalized "wires" and the substrate mobility of the dopants implanted within the bulk silicon). or Colour Index numbers. In U.P.# 4. AKA Solvent Red 8.S. Ocean Optics has indicated that their patented dichroic filter CFA process (alternating thin films of ZnS and Cryolite) can be applied to spectroscopic CCDs.. 3. three of which are C.3 IMAGE NOISE Image noise is random (not present in the object imaged) variation of brightness or color information in images.I. CAS Registry numbers.2 Some pigment and dye molecules used in CFAs In U.808. Image noise can also originate in film grain and in the unavoidable shot noise of an ideal photon detector.I.096.501. of Fuji Photo Film company. and is usually an aspect of electronic noise. . the later stages of the integrated circuit manufacturing line). and C. mainly azo dyes and pyrazolone-diazenyl. organics would be preferred over glass. Carl Chiulli cites the use of 5 chemicals. Solvent Blue 36.801 Koya et al.

Noise clearly visible in an image from a digital camera The original meaning of "noise" was and remains "unwanted signal". independent at each pixel and independent of the signal intensity. unwanted electrical fluctuations in signals received by AM radios caused audible acoustic noise ("static").4 Types o o o o o o o Amplifier noise (Gaussian noise) Salt-and-pepper noise Shot noise Dark current noise Quantization noise (uniform noise) Read noise Anisotropic noise 3.1 Amplifier noise (Gaussian noise) The standard model of amplifier noise is additive. there can be more noise in the blue channel.4. including that which comes from the reset noise of capacitors ("kTC noise"). to optical and radioastronomical images that are almost entirely noise. Gaussian. caused primarily by Johnson–Nyquist noise (thermal noise). 3. 3." Image noise is.2 Salt-and-pepper noise . from which a small amount of information can be derived by sophisticated processing (a noise level that would be totally unacceptable in a photograph since it would be impossible to determine even what the subject was). inaudible. The magnitude of image noise can range from almost imperceptible specks on a digital photograph taken in good light. of course. of the constant noise level in dark areas of the image. Amplifier noise is a major part of the "read noise" of an image sensor. that is. By analogy unwanted electrical fluctuations themselves came to be known as "noise.4. In color cameras where more amplification is used in the blue color channel than in the green or red channel.

and hot pixels appear as salt-and-pepper noise. Shot noise follows a Poisson distribution. .Image with salt and pepper noise Fat-tail distributed or "impulsive" noise is sometimes called salt-and-pepper noise or spike noise. etc. or if the exposure time is long enough that the hot pixel charge exceeds the linear charge capacity.4. variation in the number of photons sensed at a given exposure level. Dark current is greatest at "hot pixels" within the image sensor. leaving only the shot noise. but non-random. which is usually not very different from Gaussian. this noise is sometimes known as "dark shot noise" or "dark-current shot noise". or random component. display. This noise is known as photon shot noise. of the leakage. the noise will be more than just shot noise. 3. Shot noise has a root-mean-square value proportional to the square root of the image intensity. Dead pixels in an LCD monitor produce a similar. It can be mostly eliminated by using dark frame subtraction and interpolating around dark/bright pixels. bit errors in transmission. In addition to photon shot noise. An image containing salt-and-pepper noise will have dark pixels in bright regions and bright pixels in dark regions. The variable dark charge of normal and hot pixels can be subtracted off (using "dark frame subtraction"). This type of noise can be caused by analog-to-digital converter errors. that is. If dark-frame subtraction is not done. there can be additional shot noise from the dark leakage current in the image sensor. and the noises at different pixels are independent of one another.3 Shot noise The dominant noise in the lighter parts of an image from an image sensor is typically that caused by statistical quantum fluctuations.

4 Dark current noise: Dark current is the result of imperfections or impurities in the depleted bulk silicon or at the siliconsilicon dioxide interface. since high read noise decreases the quality of the image. image sensors are sometimes subject to row noise or column noise. or if dithering is explicitly applied. Though it can be signal dependent. 3.7 Anisotropic noise Some noise sources show up with a significant orientation in images. providing a path for valence electrons to sneak into the conduction band. and is present in all images taken and recorded by a camera. robbing electrons of the thermal energy required to reach an intermediate state. it will be signal independent if other noise sources are big enough to cause dithering. Calibrating the read noise allows us know more about the quality of the CCD as well as the data distortion due to the reading of images. These sites introduce electronic states in the forbidden gap which act as steps between the valence and conduction bands.4. adding to the signal measured in the pixel.4. The efficiency of a generation center depends on its energy level.3. from which they are emitted into the conduction band. the most effective way to reduce dark current is to cool the CCD.5 Quantization noise (uniform noise) The noise caused by quantizing the pixels of a sensed image to a number of discrete levels is known as quantization noise.6 Read noise Read noise is a property that is inherent to the CCD of digital cameras.[13] 3.4. The read noise of a camera affects how well the image represents the actual data. 3. with states near mid-band generating most of the dark current. 3. For this reason. It has an approximately uniform distribution.4. For example.5 In digital cameras . The generation of dark current is a thermal process wherein electrons use thermal energy to hop to an intermediate state.

the pixel count makes little difference to perceptible noise levels – the noise depends primarily on sensor area. The relative effect of both read noise and shot noise increase as the exposure is reduced.1 second exposure. or that the f-number or focal-plane illuminance is held constant. or printed at the same size.Image on the left has exposure time of >10 seconds in low light. higher gain (ISO sensitivity). or both. That is. not how this area is divided into pixels. is the largest determinant of signal levels that determine signal-to-noise ratio and hence apparent noise levels.6 Effects of sensor size The size of the image sensor. similar to shadow noise. or effective light collection area per pixel sensor. corresponding to increased ISO sensitivity. correct exposure requires the use of long shutter speeds. assuming the aperture area is proportional to sensor area. The image on the right has adequate lighting and 0. this salt-and-pepper noise can be mostly eliminated by dark frame subtraction. longer shutter speeds lead to increased salt-and-pepper noise due to photodiodeleakage currents. since fewer photons are counted (shot noise) and since more amplification of the signal is necessary. For images at lower signal levels (higher ISO settings). the sensitivity of an imager scales roughly with the sensor area. In low light. 3. can be introduced through brightening shadows or through color-balance processing. more pixels within a given sensor area will make the image noisier if the per pixel read noise is the same. In the case of images bright enough to be in the shot noise limited regime. when the image is scaled to the same size on screen. On most cameras. for a constant f-number. At the cost of a doubling of read noise variance (41% increase in read noise standard deviation). Banding noise. where read noise (noise floor) is significant. . so larger sensors typically create lower noise images than smaller sensors.

But a definitive answer is not available. Furthermore. it may be a defect in a group of pixels in the image-taking sensor (spurious and unwanted. 3. if it covers a few pixels in an absolutely regular shape.For instance. If this is a single pixel. However. since there is little important fine chroma detail that one risks losing. A simplified example of the impossibility of unambiguous noise reduction: an area of uniform red in an image might have a very small black part. Many cameras have settings to control the aggressiveness of the in-camera noise reduction. it is known that DSLRs will produce more noise during summer than winter. This decision can be assisted by knowing the characteristics of the source image and of human vision. which tend to use larger sensors than compacts. no algorithm can make this judgment perfectly. so there is often a tradeoff made between noise removal and preservation of fine. There are many procedures for this. whether in-camera or on a computer. it is likely (but not certain) to be spurious and noise. but all attempt to determine whether the actual differences in pixel values constitute noise or real photographic detail. and average out the former while attempting to preserve the latter. but not strictly noise). low-contrast detail that may have characteristics similar to noise. 3. Most noise reduction algorithms perform much more aggressive chroma noise reduction. This ability to produce acceptable images at higher sensitivities is a major factor driving the adoption of DSLR cameras. the noise level produced by a Four Thirds sensor at ISO 800 is roughly equivalent to that produced by a full frame sensor (with roughly four times the area) at ISO 3200. if it is irregular.7 Sensor heat Temperature can also have an effect on the amount of noise produced by an image sensor due to leakage. An example shows a DSLR sensor at ISO 400 creating less noise than a point-and-shoot sensor at ISO 100. With this in mind. involve some form of noise reduction.8 Image noise reduction Most algorithms for converting image sensor data to an image. and that produced by a 1/2. it may be more likely to be a true feature of the image.5" compact camera sensor (with roughly 1/16 the area) at ISO 100. many people find .

The high sensitivity image quality of a given camera (or RAW development workflow) may depend greatly on the quality of the algorithm used for noise reduction. This leads to a breakdown of image quality at higher sensitivities in two ways: noise levels increase and fine detail is smoothed out by the more aggressive noise reduction. In cases of extreme noise. since its textured appearance mimics the appearance of film grain. Since noise levels increase as ISO sensitivity is increased. most camera manufacturers increase the noise reduction aggressiveness automatically at higher sensitivities. . seeking small regularities in massively random data. it is not so much a matter of noise reduction as of extracting a little information buried in a lot of noise. such as astronomical images of very distant objects.luminance noise less objectionable to the eye. techniques are different.

It is characterized by the same pattern of 'hot' (brighter) and cold (darker) pixels occurring with images taken under the same illumination conditions in an imaging array. Fixed pattern noise (FPN) is a general term that identifies a temporally constant lateral nonuniformity (forming a constant pattern) in an imaging system with multiple detector or picture elements (pixels). Pixel noise therefore gives a number (commonly expressed in rms) that identifies FPN in all permitted imaging conditions.[1] One is the DSNU (dark signal non-uniformity). and fixed pixel locations. The latter can be described as the local. imager gain and incident illumination. The term "fixed pattern noise" usually refers to two parameters. a long exposure (integration time) emphasizes the inherent differences in pixel response so they may become a visible defect. it is not expressed in a random (uncorrelated or changing) spatial distribution. exposure times. It might be affected by changes in the environment like different temperatures. degrading the image.CHAPTER 4 FIXED PATTERN NOISE Fixed pattern noise is the term given to a particular noise pattern on digital imaging sensors often noticeable during longer exposure shots where particular pixels are susceptible to giving brighter intensities above the general background noise. Sometimes pixel noise[2] as the average deviation from the array average under different illumination and temperature conditions is specified. In practice. occurring only at certain. which is the offset from the average across the imaging array at a particular setting (temperature. This problem arises from small differences in the individual responsibility of the sensor array (including any local post amplification stages) that might be caused by variations in the pixel size. material or interference with the local circuitry. which describes the gain or ratio between optical power on a pixel versus the electrical signal output. which might strongly deteriorate if additional electrical gain (and noise) is included. integration time) but no external illumination and the PRNU (photo response nonuniformity). . pixel dependent photo response nonlinearity (PRNL) and is often simplified as a single value measured at almost saturation level to permit a linear approximation of the non-linear pixel response. it may vary with integration time. imager temperature. Although FPN does not change appreciably across a series of captures. etc.

or PRNU for short. However. Repeat the calculations for the different exposure times to compare the PRNU.1 PRNU (Photo Response Non-Uniformity) 4. 1/4 and 1/2.2 Methods To characterize the PRNU.1. One of the few engineering definitions for PRNU or "photoresponsenonuniformity" is in the photonics dictionary. Obtain the spatial variance of the pixel values over the entire CCD   Divide the spatial variance by the average image from (ii) to obtain the PRNU as a percentage of the actual pixel values. and increasing the illumination level increases the non-uniformity of the illumination .1.00 candelas since the brighter light is more easily detected by the camera. since the maximum value of the Opt linear device is around 4 candelas. PRNU is the pixel variation under illumination. We expect the PRNU to increase with increasing illumination. we use the camera to take multiple images of a uniform scene. is one source of pattern noise in digital cameras. it is seen as the variation in pixel responsively over the CCD. 4. In our measurements. And it is for CCD only. The calculation of the PRNU is as follows:  Obtain the average image over the 100 images taken:   Subtract the DSNU image from this average image to eliminate the contribution from the DSNU. and we also checked to ensure that the camera is focused before taking the pictures. We kept the illumination level fixed at 3. since increasing the illumination level will enhance the difference in the photo-response of the pixels across the image and lead to a higher PRNU. produced by the Optoliner. Like DSNU. while DSNU occurs as a variation in pixel responsively when the CCD is not illuminated. 4. We took 100 exposures each for three exposure times: 1/10.5.1 Background Photo Response Non-Uniformity.

This colour filtering is determined by the CFA. including . (1) and keeping the first two terms of the expansion where  is the denoised image and is the ensemble of the noises. (1). during the image acquisition process. (= 0. The signals then undergo additional signal processing such as white balance. we chose to increase the exposure times to mimic the effect of increasing illumination levels. (1). after applying Taylor expansion to Eq. and is the input signal of the scene. gamma correction and image enhancement. a colour interpolation function generates the electronic signals of the other two colour components for every pixel according to the colour intensities of the neighboring pixels. primarily the JPEG format. R. the signal will inevitably be distorted when passing through each process and these distortions result in slight differences between the scene and the camera-captured image. As formulated in [11]. The dominating component of sensor pattern noise is photo response non-uniformity (PRNU). Finally.e. However. .s andr are random noise and is the fixed pattern noise (FPN) that is associated with every camera and can be removed by subtracting a dark frame from the image taken by the same camera. a camera output model can be expressed as where I is the output image. After the conversion. G.. respectively. stand for dark current. and . In Eq. the lenses let through the rays of the three colour components of the scene. g is the colour channel gain. read-out noise and quantization (lossy Compression) noise. This colour interpolation process is commonly known as demosaicking. the PRNU can be contaminated by various types of noise introduced at different stages of the image acquisition process. The PRNU pattern noise K can then be formulated as . these signals are stored in the camera’s memory in a customized format. In acquiring an image. Since is the dominating term in Eq. K is the zero-mean multiplicative factor responsible for the PRNU. and B). For most digital cameras. Figure 1 demonstrates the image acquisition process.produced by the Opt linear. but for every pixel only therays of one colour component is passed through the CFA and subsequently converted into electronic signals by the sensor. A colour photo is represented in three colour components (i.455) is the gamma correction factor. shot noise.

for each imaging device d. it is important that the PRNU extracted is as close to the genuine pattern noise due to the sensor as the noise residual obtained by applying a denoising filter on image I. 2) Secondly. this inevitably introduce noise with power stronger than that of the genuine .. is used to compare the noise Note in Eq. the noise residual patterns are extracted using Eq. Again the multiplication operation in Eq. The normalised cross-correlation is the noise residual extracted from . Since for most cameras. 1) First. the noise residual WI of image I under investigation is extracted using Eq. 4. al. (5) from a number of low-contrast images taken by device d and then the PRNU is estimated using the ML estimation procedure adopted by Chen et.. as suggested in [11].e. Given the PRNU-based approaches‟ potential in resolving device identification problem to the accuracy at individual device level. i. we used . (5) is element-wise. where is the mean function.. (6). (6) is element-wise.e.2 Use of PRNU in Device Identification The basic idea of using the PRNU noise pattern in device identification can be described as the s-th image taken by device d and Note the multiplication operation in Eq. (5) and compared against the reference PRNU Kd of each device d available to the investigator in the hope that it will match one of the reference fingerprints. only one of the three colours of each pixel is physically captured by the sensor while the other two are artificially interpolated by the demosaicking process. thus identifying the source device that has taken the image under investigation. is the gamma correction factor . instead of using against the reference fingerprint . where S is the number of images involved in the calculation. the wavelet-based denoising process (i. Although various denoising filters can be used. has been reported as effective in producing good results. the discrete wavelet transform followed by a Wiener filtering operation).

. as a result. we will look at the impact of demosaicking on PRNU fidelity in Section II and propose an improved formula for extracting PRNU in Section III. In Section IV.e. It is also known as CFA interpolation or color reconstruction.PRNU. In this work. Many modern digital cameras can save images in a raw format allowing the user to demosaic it using software. (3) and (5) as a function of the noise residual W (i. The algorithm should have the following traits:  Avoidance of the introduction of false color artifacts. We can see from Eq. Addressing this shortcoming is the motivation of this work. we present some experiments on device identification and image content integrity verification to validate the proposed PRNU extractionformula. zippering (abrupt unnatural changes of intensity over a number of neighboring pixels) and purple fringing  Maximum preservation of the image resolution . Section V concludes this work. (4)). Most modern digital cameras acquire images using a single image sensor overlaid with a CFA. a full set of color triples) from the spatially under sampled color channels output from the CFA. PRNU and noise residual. The aim of a demosaicing algorithm is to reconstruct a full color image (i. (2). (3) and (4) that the accuracy of both PRNU K and noise residual W depends on the denoising operation applied to I in obtaining the most common method of obtaining . as mentioned earlier that I is to apply the discrete wavelet transform followed by a Wiener filtering operation directly to the entire image I without differentiating physical components from artificial components and. Eq. such as chromatic aliases.3 DEMOSAICING A demosaicing (also de-mosaicing or demosaicking) algorithm is a digital image process used to reconstruct a full color image from the incomplete color samples output from an image sensor overlaid with a color filter array (CFA). so demosaicing is part of the processing pipeline required to render these images into a viewable format. rather than using the camera's built-in firmware. However. 4. interchangeably whenever there is no need to differentiate them.e. in the rest of the work we will use the two terms. allowing the interpolation noise in the artificial components to contaminate the real PRNU in the physical components. Because the PRNU is formulated in Eq.

Due to the fact that demosaicking is a key deterministic process that affects the quality of colour images taken by many digital devices. However. the existing method for extracting PRNU as formulated in Eq. the discrete wavelet transform followed by a Wiener filtering operation is applied. (1) does not take this into account. we call the colour components physically captured by the sensor as physical colours and the ones artificially interpolated by the demosaicking function as artificial colours. For example. the interpolation function can more accurately generate artificial components. The mathematics here is subject to individual implementation. e. The grouping process is usually content-dependent. When wavelet transform is applied during the noise residual extraction process the interpolation noise residing in the artificial components propagates into the physical components. and is called demosaicing. which contains both artificial and physical components. Most demosaicking approaches group the missing colours before applying an interpolation function. The main problem inherent to Eq. This indicates that the PRNU in physical colour components is more reliable than that in the artificial components.g. However. For example. each coefficient of the wavelet transform used in the noise residual extraction process involves multiple pixels and thus both artificial and physical components. Conversely. thus the interpolation noise is also more significant. in a homogeneous area. As a result the interpolation noise gets diffused from the artificial components into the physical ones. in one noise residual extraction process. only one fourth of the pixels‟ red colour are physical and for each pixel with physical red colour all its 8 neighbours‟ red colours are artificial. in inhomogeneous areas. To extract the PRNU using Eq. (4) is that it involves the whole image plane. in the red colour component/plane of an image taken by a camera with a Bayer CFA. Therefore it is desirable to devise a noise residual extraction method that can . edge-adaptive or non-adaptive. hence the accuracy of colour interpolation result is also content-dependent. 4. the colour variation between neighbouring pixels is greater. a form of interpolation is needed to fill in the blanks. demosaicking has been rigorously investigated..4 DEMOSAICKING IMPACT ON PRNU FIDELITY In this work. (4) and (5) based on the definition of the output image model in Eq. (4) and (5). Low computational complexity for fast processing or efficient incamera hardware implementation  Amenability to analysis for accurate noise reduction To reconstruct a full color image from the data collected by the color filtering array. because of the low variation of the colour intensities of neighbouring pixels.

prevent the artificial components from contaminating the reliable PRNU residing in the physical components with the interpolation noise. .

5.e . the image output model of Eq. then no demosaicking is needed because c has been physically captured by the sensor. F. G (green) and B (blue) before colour interpolation. we will discuss the formulation and extraction of CD-PRNU. Although the 2×2 Bayer CFA is the most common CFA pattern. Otherwise.CHAPTER 5 CD-PRNU (Color Decoupled Photo Response Non-Uniformity) 5. only one of the three colour components takes a value physically captured by the sensor and this colour is determined by the colour configuration of the CFA pattern F. (7) is artificially applied to calculate the colour. can be determined according to The first part of Eq. According to Eq. a mathematical model for the CD-PRNUis derived and then an extraction algorithm is proposed to extract the noise residual that is to be used for estimating the final CD-PRNU. (7) means that if the colour component c is the same as the colour that the CFA pattern F allows to pass. to make the proposed CD-PRNU versatile and applicable to cameras adopting different CFA patterns. For each colour component of a pixel . (7). except that it is a 2 × 2 square array. That is to say that for each pixel . (1) proposed in can be reformulated as . without prior knowledge about the CFA. the second part of Eq. i. R (red).2 Mathematical Model of CD-PRNU A generic demosaicking process is to convolve an interpolation matrix with an image block of the same size centred at the pixel where the artificial colour is to be calculated. The other two colour components are to be determined by the demosaicking process. we makes no assumption about the CFA pattern. Let be an interpolation matrix with 2N+1 × 2N+1 coefficients and be a X × Y-pixel input signal from the scene consisting of three colour components.1 FORMULATION OF COLOUR DECOUPLED PRNU (CD-PRNU) In this section. First.

e. Hence if the physical and artificial colour components can be separated / decoupled. (3)). We will discuss how the physical and artificial is the interpolation noise extracted from colour components can be decoupled in simple manner without a priori knowledge about the CFA pattern in Section III. the PRNU is actually the interpolation noise P while. P can be extracted in the same way as the sensor pattern noise K is extracted (i. (5) to extract the reference interpolation noise d from S low-variation images taken by d such that for a particular device where is the artificial colour components of the s-th low-contrast image taken by device d and . 5. Eq..Eq. in the physicalcomponents.3 CD-PRNU Extraction Algorithm . the PRNU remains unaffected by the interpolation noise. That is where is a low-passed filtered version of the artificial components and is the corresponding ―sensor pattern noise‖.B. which is actually the interpolation noise. (9) suggests that in the artificial components. (9) that the physical components and artificial components have similar mathematical expression. We can also use the same ML estimate as in Eq. It can also be seen from Eq.

for each channel . these methods have to exhaust all of the possible CFA patterns in order to infer/estimate the „real‟/optimal CFA. (11) is applied. .According to Eq. we know that each of the four sub-images either contains only the physical colour or only the artificial colours. Eq. from the physical and artificial components if the CFA is known. without knowing the CFA pattern used by the manufacturer. we perform a 2:1 down-sampling across both horizontal and . and mod is the modulo operation. Eq. so the second step is. we can prevent the artificial components from contaminating the physical components during the DWT process. Unfortunately. several methods have been proposed to estimate the CFA. respectively. In this work. we can extract the sensor pattern noise and interpolation noise. Most CFA patterns are of 2 × 2 elements and are periodically mapped to the sensors. . exhaustive search is by no means acceptable. The framework of the colour decoupled noise residual extraction process is shown in Figure 2 and the procedures are listed in Algorithm 1. We know that. only one of the three colour components is physical and the other two are artificial. such that vertical dimensions to get four sub-images. (4) is then used to obtain noise residual from each sub-images . To estimate the CD-PRNU Pd of a particular device d and use it as the reference signature of d. manufacturers usually do not provide information about the CFA used by their cameras. For each colour channel. By decoupling the physical and artificial colour components in this fashion before extracting the noise residual. we do not know (actually we do not have to know) which pixels carry the colour captured physically by the hardware and which are not. But by decomposing into four sub-images. to extract the CD-PRNU. However. Note that Algorithm 1 is for extracting the noise residual pattern W from an image I. we first separate the three colour channels of a colour image I of pixels. However. for each pixel of I. Therefore. . Finally the CD-PRNU Wc of each colour channel c is formed by combining the four sub-noise residuals such that where. (10) and (11).


1. (11). The six cameras are listed in Table1. For device identification purpose.4 Algorithm 1.5.5 EXPERIMENTAL RESULTS In this section. Source Camera Identification We have carried out source camera identification tests on 300 2048×1536-pixel photos of natural scenes taken by six cameras(C1 to C6). we need clean PRNUs (which appear as high frequency bands of images) as device . 5. The reference PRNU (i. Noise residual extraction algorithm Input: original image I Output: colour decoupled noise residual W Noise residual extraction algorithm 5. ) of each camera Ci is generated by taking the weighted average of the PRNUs extracted from 30 photos of blue sky according to Eq. each responsible for 50. Table 1.5.e. Cameras used in the experiments. we carry out experiments on source camera identification and image content integrity verification to validate the feasibility of the proposed CD-PRNU in a comparative manner.

Because PRNU is often used in content integrity verification. if out of the six reference PRNUs (or CDPRNUs).e. Fridrich suggested the use of the Peak to Correlation Energy (PCE) measure in [15]. which has been proved to be a more stable detection statistics than normalised cross-correlation when applied to the scenarios in which the images of interest may have undergone geometrical manipulations. in the following experiments. C5 and C6 perform significantly better when CD-PRNU is used in all cases. except for a few cases when images are of full size (1536 × 2048 pixels) and the identification rates are close or equal to 100% (1. Taking the average of the PRNUs from 30 blue sky images is to further reduce variation. in this experiment. thus giving better chance of extracting clean PRNU. Therefore. (6) will be used to measure the similarity between PRNUs (CD-PRNUs).fingerprints for comparison against the PRNU extracted from individual images under investigation. Source camera identification requires similarity comparisons among PRNUs (CD-PRNUs) and therefore the feasibility of the chosen similarity metrics is important.0000). of the image I under investigation. C1. The reason blue-sky images are chosen in this work is because blue sky contains less scene details (high frequency signal). The purpose of this experiment is to demonstrate the capability of the proposed CD-PRNU in dealing with the colour interpolation noise. normalised cross-correlation formulated as in Eq. . Our empirical experience suggests that an average of 20 blue sky images is accurate enough. We suspect that the reason C2 does not perform as expected is because the CFA pattern is not a 2 × 2 square array as we have assumed. scenes without significant details) can be used instead. Generally speaking. PRNU performs equally well as CD-PRNU when the image size is 192 × 256 pixels and slightly outperforms CD-PRNU when the block size is 48 × 64 pixels. because the smaller the images. Therefore. we also compare the performance of the proposed CD-PRNU against that of the traditional PRNU [11] when they are applied to blocks of 5 different sizes cropped from the centre of the fullsized PRNU (CD-PRNU). where smaller image blocks have to be analysed. the normalised cross-correlation has to be greater than a specified threshold for a camera to be identified as the source camera. C3. its reference PRNU (or CD-PRNU) is most similar to the PRNU (or CD-PRNU). In practice. Table 2 lists the identification rates. such as rotation or scaling. C4. the key point is about demonstrating the different performance of the traditional PRNU and the proposed CD-PRNU. WI. other images with low-variation scenes (i. Individually speaking. However. Actually. the less data is available. a camera is identified as the source camera. so geometrical transformations will not be applied in order to prevent biased evaluation from happening. Another reason is that.. therefore identification results become less reliable. For C2.

Performance comparison of source camera identification a) Overall identification rates when CD-PRNU and PRNU are used as fingerprint In Figure 3(b). We can see that the CD-PRNU outperforms the PRNU because at all fixed False Positive rate the CDPRNU‟s True Positive rate are always higher than that of the PRNU. . This has been graphically presented in Figure 3(a). Figure 3. we can see that CD-PRNU still outperforms PRNU significantly. as listed in the Total column of Table 2. a ROC curve of the performance of PRNU and CD-PRNU are demonstrated.when the statistics of the six cameras are pooled together.

Although extracting CD-PRNU requires down-sampling and up-sampling.567 seconds to calculate the similarity between a pair of CD-PRNUs of the same size. Performance comparison of source camera identification b) Overall ROC curve when CDPRNU and PRNU are used as fingerprint For a system with a Pentium Core II 1.Figure 3. it takes 0. The amount of data processed during the extraction of PRNU and CD-PRNU is the same. .526 seconds to compute the similarity between the PRNUs of two images of 2048 × 1536 pixels and 0. these two operations are trivial and only incur negligible increase of time complexity.3G CPU and 3 GB RAM.

3 as shown in Figure 4(c). 5.  In the first experiment.2 in Figure 4(b) to create the forged Image I.2 Content Integrity Verification We also carried out the following three content integrity verification experiments on 640 × 480-pixel images. The images in Figure 4(a) and (b) are taken by Olympus C730. we copied a 160 × 390-pixel area from Image I. .1 in Figure 4(a).Table 2. Source camera identification rates using traditional PRNU and proposed CD-PRNU.5. and pasted it at approximately the same location in Image I.

2. which covers the face of the person.1 (b) Original Image I. we cropped a 60 × 80-pixel area from Image III.3  In the third experiment.1 in Figure 5(a). II.2 (c) Forged Image II. the windows are .2 and III.3 To detect the manipulated areas.3 in Figure 5(c). to create the forged Image III. source image and forged images for the content verification experiments.2 in Figure 6(b).2.1 (b) Original Image II. The images in Figure 5(a) and (b) are also taken by the same camera. pasted it at the area where the face of another person is in Image II.3  In the second experiment. Figure 5. we slid a 128 × 128-pixel window across the PRNU extracted from the image under investigation and another window of the same size across the reference PRNU of the cameras that have taken images I.1 (b) Original Image III.2 in Figure 5(b) to create the forged Image II. Figure 6.1 in Figure 6(a) taken by Canon Power Shot A400. we cropped an 80 × 100-pixel area from Image II.2 (c) Forged Image III. The original image. source image and forged images for the content verification experiments.3 in Figure 6(c). (a) Original Image III. which is taken by Olympus C730. In Chen’s method [11]. source image and forged images for the content verification experiments. The original image. (a) Original Image II.2 (c) Forged Image I. (a) Original Image I.Figure 4. which covers the face of the person. pasted it at the area where the face of another person is in Image III. The original image.

we can evaluate the integrity verification performance across a wide range of correlation thresholds T(t). Table 3. the cross-follows the Generalized Gaussian (GG) distribution. Therefore. true positive (TP). Let B be an arbitrary block and M(B) and Md(B) be defined as TP. and T(t) is the threshold. the cross-correlation of the PRNU patterns inside the two windows at the same location was calculated according to Eq. which incurs a high computational load. If the cross-correlation is lower than a predetermined threshold t. As discussed in [11]. In the following experiments we will allow t to vary independently in the range from 0. Moreover. and lower FP and FN indicate better performance. TN and FN are defined as TP = |{B | M(B) = 1 and Md(B) = 1}|. (6).moved a pixel at a time.0 to 3. while higher TN and FN. false positive (FP). Number of manipulated and non-manipulated areas in each image (unit: block). respectively. we use various thresholds defined as to analyze the performance of PRNU and CD-PRNU. TN = |{B | M(B) = 0 and Md(B) = 0}|. therefore. where and are the mean and standard deviation of the correlations distribution. . To decide whether a block centered at the window superposed on the image has been manipulated or not.0 and use the four metrics. we will obtain lower TP and FP. FP = |{B | M(B) = 0 and Md(B) = 1}| and FN = |{B | M(B) = 1 and Md(B) = 0}|. the block in the centre of the window is deemed as manipulated. As t grows. By varying the value of t. the sliding step/displacement is set to 5 pixels in order to reduce the computational load without sacrificing the accuracy of the integrity verification. Table 3 lists the number of manipulated and non-manipulated blocks of 5 × 5 pixels in the forged images. FP. this method is not accurate at the pixel level [11]. in our experiment. true negative (TN) and false negative (FN) to measure the performance of integrity verifications based on PRNU and CD-PRNU. Higher TP and TN.

It is clear that the ROC curve of the PRNU-based scheme mostly overlaps with that of Random Guess. However. In order to simplify the comparison and to obtain a fair result. Therefore a ROCcurve of TP rate with respect to FP rate can be used to evaluate the overall performance of the PRNU and CD-PRNU. FP and FN. the experiments on III.2. TN. We can see from Figure 7(a) and 7(b) that CD-PRNU generally achieves higher TP and TN while maintaining lower FP and FN. therefore the PRNU pattern noises in the two areas are almost the same. The final authentication result is a image with the dilated areas highlighted as the tampered areas. Thus. A lower correlation (similarity) allows the algorithm to detect more manipulated blocks. giving rise to a higher FP. which means the authentication result is generally as unreliable as that of a random guess. which is marked along the horizontal axis of the ROC curve. the performance of the filtering / dilation operation strongly depends on parameter setting and hence many experiments must be run to obtain the best parameters for filtering. The ROC curves for the integrity verification experiments on image I. As a result. Chen applies erosion and dilation operations with a square kernel in order to filter small areas identified as tampered with.3 Figure 7 shows the performance of the PRNU and CD-PRNU in terms of TP.1 is at approximately the same location as the original area in image I. FP and FN when authentication is carried out on image I.5. which is marked vertically. a low threshold also results in the situation where more authentic blocks are mistakenly detected as manipulated. As a result.3 is illustrated as Figure 8. However. we remove all simply connected tampered regions from Z that contain less than 64×64 pixels (one quarter of the number of pixels in the block)‖. we use the raw data without any filtering to calculate the TP. This is because the area we copied from the source image I. the scheme cannot detect the manipulated area based on PRNU. ―the block dimensions impose a lower bound on the size of tampered regions that our algorithm can identify. leading to higher TP.3 demonstrate that CD-PRNU-based method significantly outperforms the PRNU-based method when the tampered area is about one quarter of the sliding window. an algorithm with better performance will have a higher true positive rate ().According to Chen‟s predication. TN.1 Experiment on Image I. the ROC is formulated as At the same false positive rate . Let α be the number of manipulated blocks and β be the number of authentic blocks. 5.2.3 across a range of correlation threshold T(t). By .

which means that by using CD-PRNU manipulated blocks can be detected more reliably.0 to 3. 5. b) TN. across a range of correlation threshold T(t). Authentication results on image I. Figure 8. The ROC curve of Truth Positive Rate with respect to False Positive Rate of PRNU and CD-PRNU when authentication is performed on image I.3 . Figure 7. the CD-PRNU-based scheme results in a curve much higher than the PRNU-based method.3.2 Experiment on Image II.0. with t varying from 0.3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP.contrast.2.5.

. However. CD-PRNU‟s consistently higher TP and lower FN. as shown in Figure 9(a) and 9(d). with t varying from 0. mixed performance in terms of TN and FP can be seen in Figure 9(b) and 9(c).0. again indicate its superiority to PRNU. c) FP and d) FN across a range of correlation threshold T(t). indicating a slightly better performance of CD-PRNU. Figure 9.3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP.When verifying the integrity of image II.3.0 to 3. Figure 10 also shows that the ROC curve of CD-PRNU is still slightly higher than that of PRNU. b) TN. Albeit their mixed performance in terms of TN and FP. Authentication results on image II. both PRNU and CD-PRNU can effectively detect the manipulated blocks as their ROC curves have suggested in Figure 10.

approximately one quarter of the window. the method based on PRNU can perform no better than a random guess.Figure Experiment on Image III. the CD-PRNU-based method can identify smaller areas.1. as can be seen in Figure 11(b) and 11(c). the PRNU cannot correctly detect any manipulated blocks (i. and therefore areas smaller than this should be filtered in order to remove the falsely identified noise. When the threshold t is higher than 1. The ROC curve of Truth Positive Rate with respect to False Positive Rate of PRNU and CD-PRNU when authentication is performed on image II. As a result.5. CD-PRNU‟s significantly better performance in terms of TP and lower FN can still be seen again in Figure 11(a) and 11(d). The experiment result on III.3 conforms to Chen’s observation. the manipulated blocks can be effectively detected by the CD-PRNU-based scheme because the areas in question are from two images taken by different cameras and thus contain different interpolation noise. although the performance of PRNU and CD-PRNU in terms of TN and FP are mixed. as demonstrated in Figure 11(a). which is only about one quarter of the sliding window (128 × 128 pixels). . Since the tampered area is 60 × 80 pixels. 5.3 When authenticating III. respectively. This poor performance is also reflected in the PRNU’s ROC curve in Figure 12 and is due to the fact that he manipulated area is too small (60 × 80 pixels). By contrast. Chen predicated in that one quarter of the sliding window is the lower bound on the size of tampered regions that our algorithm can identify.e.2.

3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP. c) FP and d) FN across a range of correlation threshold T(t).Figure 11. . with t varying from 0.0. Authentication results on image III.0 to 3. b) TN.

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