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

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

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

including Internet imaging. Digital watermarking is the content protection method for the multimedia era. 2. and is therefore probable that duplication on the Internet occurs without the rightful owners' permission. RIAA reports that "record labels see watermarking as a crucial piece of the copy protection system. video-ondemand systems. Embedding a watermark should not result in a significant increase or reduction in the original data.2 IMPORTANCE OF DIGITAL WATERMARKS The Internet has provided worldwide publishing opportunities to creators of various works. This suggests that there are many applications that could require image watermarking. They are of the opinion that any encryption system can be broken. This is so that later. the images must be watermarked as they are captured. 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.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. including writers. Copyright owners can incorporate . digital libraries. 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. Basically.1.Currently there are various techniques for embedding digital watermarks.1. they can be embedded in content with a variety of file formats. surveillance imaging. 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. and satellite-delivered video. and that digital watermarking is needed to indicate who the culprit is. However. An example of an area where copyright protection needs to be enforced is in the on-line music industry. medical imaging. image's origin and content can be verified. whether their music is released over the Internet or on DVD-Audio". 2. which has resulted in pirating. When digital cameras are used to snapshot an event. image and video databases. Digital watermarking is being recognized as a way for improving this situation. sooner or later. digital cameras. Another scenario in which the enforcement of copyright is needed is in newsgathering. so that the source as well as the intended recipient of the digital work is known. photographers. these same opportunities provide ease of access to these works. musicians and artists. It is easy to duplicate audio and visual files. Furthermore.

 Watermarks can be used to identify any changes that have been made to the watermarked data. 2. In addition. 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. because each purchaser of the data has a unique watermark embedded in his/her copy.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.5 DIGITAL WATERMARKING APPLICATIONS Digital watermarking is rapid evolving field.1. any unauthorized copies that s/he has distributed can be traced back to him/her. That is.  By indicating the owner of the work. Recompression Linear filtering such as high pass and low pass filtering. scaling and cropping.  Some more recent techniques are able to correct the alteration as well. Common Signal Processing Operations: They include the followings. owners are able to find illegal copies of their work on the Internet. translation.1. Requantization. watermarks are used in the protection of ownership. The presence of a watermark in a work suspected of having been copied can prove that it has been copied.identifying information into their work. Geometric Distortions: include such operations as rotation. this section identifies digital watermarking applications and provides an overview of digital watermarking capabilities and useful benefits to customers. they demonstrate the quality and assure the authenticity of the work. D/A conversion. A/D conversion Resampling. The various applications are:    Authentication Broadcast Monitoring Copy Prevention .  With a tracking service.

2 DIGITAL SIGNATURE A digital signature or digital signature scheme is a mathematical scheme for demonstrating the authenticity of a digital message or document. MediaSec: Provide software for various media types. some non-repudiation schemes offer a time stamp for the digital signature. Digital signatures are equivalent to traditional handwritten signatures in many respects. India. but properly implemented digital signatures are more difficult to forge than the handwritten type. . and must be implemented properly to be effective. embedded messages and more. partial encryption. further. 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). electronic signatures have legal significance. copyright protection. Digital signatures are commonly used for software distribution. Digital signatures are often used to implement electronic signatures. Digimarc: For document verification. financial transactions. so that even if the private key is exposed.c. meaning that the signer cannot successfully claim they did not sign a message. Signum: Allow digital fingerprints to be embedded into grahics. and internet tracking. a broader term that refers to any electronic data that carries the intent of a signature.[4] and members of the European Union. including the United States. Digital signatures employ a type of asymmetric cryptography. Digital signatures can also provide nonrepudiation. while also claiming their private key remains secret.[1] but not all electronic signatures use digital signatures. Digital signature schemes in the sense used here are cryptographically based. For messages sent through a nonsecure channel. Stegnosign: For creating.  Forensic Tracking E-Commerce/Linking 2.1. video e. audio.t.6 WATERMARKING SOFTWARE&SREVICES      Alpha-Tec: watermarking software for copyright protection and infringement tracking. 2. embedding and detecting watermarks. the signature is valid.[2][3] In some countries. and in other cases where it is important to detect forgery or tampering.

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

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

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

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

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

some CVD silicon oxide processes are low temperature processes. 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). Solvent Yellow 88.S.S. of Fuji Photo Film company. Gersteltec sells photoresists that possesses color filter properties. 3. .I.P.P.808.3 IMAGE NOISE Image noise is random (not present in the object imaged) variation of brightness or color information in images. Solvent Blue 36. On the other hand.096. Carl Chiulli cites the use of 5 chemicals. or Colour Index numbers. and C. Ocean Optics has indicated that their patented dichroic filter CFA process (alternating thin films of ZnS and Cryolite) can be applied to spectroscopic CCDs.801 Koya et al.# 4. CAS Registry numbers.501. Image noise is an undesirable by-product of image capture that adds spurious and extraneous information.. Image noise can also originate in film grain and in the unavoidable shot noise of an ideal photon detector. #12715. In U. three of which are C. but fail to provide chemical names. It can be produced by the sensor and circuitry of a scanner or digital camera. # 5. the later stages of the integrated circuit manufacturing line). 3. # 61551.I. and is usually an aspect of electronic noise. organics would be preferred over glass.Given that the CFAs are deposited on the image sensor surface at the BEOL (back end of line.2 Some pigment and dye molecules used in CFAs In U. list some 150-200 chemical structures. AKA Solvent Red 8. mainly azo dyes and pyrazolone-diazenyl.

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. inaudible. The magnitude of image noise can range from almost imperceptible specks on a digital photograph taken in good light. including that which comes from the reset noise of capacitors ("kTC noise").2 Salt-and-pepper noise .1 Amplifier noise (Gaussian noise) The standard model of amplifier noise is additive. Amplifier noise is a major part of the "read noise" of an image sensor. of course. that is.4. By analogy unwanted electrical fluctuations themselves came to be known as "noise. In color cameras where more amplification is used in the blue color channel than in the green or red channel. 3.4. 3. Gaussian. caused primarily by Johnson–Nyquist noise (thermal noise)." Image noise is. to optical and radioastronomical images that are almost entirely noise. there can be more noise in the blue channel.Noise clearly visible in an image from a digital camera The original meaning of "noise" was and remains "unwanted signal". of the constant noise level in dark areas of the image. independent at each pixel and independent of the signal intensity. unwanted electrical fluctuations in signals received by AM radios caused audible acoustic noise ("static"). 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).

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

or if dithering is explicitly applied. providing a path for valence electrons to sneak into the conduction band. since high read noise decreases the quality of the image.3. 3. robbing electrons of the thermal energy required to reach an intermediate state.4.5 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. 3. The efficiency of a generation center depends on its energy level. image sensors are sometimes subject to row noise or column noise. It has an approximately uniform distribution.6 Read noise Read noise is a property that is inherent to the CCD of digital cameras. 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.4. The generation of dark current is a thermal process wherein electrons use thermal energy to hop to an intermediate state. adding to the signal measured in the pixel. Though it can be signal dependent.4.[13] 3. These sites introduce electronic states in the forbidden gap which act as steps between the valence and conduction bands. and is present in all images taken and recorded by a camera. For this reason. with states near mid-band generating most of the dark current. The read noise of a camera affects how well the image represents the actual data. it will be signal independent if other noise sources are big enough to cause dithering.4 Dark current noise: Dark current is the result of imperfections or impurities in the depleted bulk silicon or at the siliconsilicon dioxide interface.7 Anisotropic noise Some noise sources show up with a significant orientation in images. the most effective way to reduce dark current is to cool the CCD. from which they are emitted into the conduction band.4. For example.5 In digital cameras . 3.

Banding noise. the sensitivity of an imager scales roughly with the sensor area. when the image is scaled to the same size on screen. since fewer photons are counted (shot noise) and since more amplification of the signal is necessary. That is.1 second exposure. longer shutter speeds lead to increased salt-and-pepper noise due to photodiodeleakage currents. for a constant f-number.Image on the left has exposure time of >10 seconds in low light. In the case of images bright enough to be in the shot noise limited regime. corresponding to increased ISO sensitivity. the pixel count makes little difference to perceptible noise levels – the noise depends primarily on sensor area. . In low light. higher gain (ISO sensitivity). The image on the right has adequate lighting and 0. can be introduced through brightening shadows or through color-balance processing. similar to shadow noise. more pixels within a given sensor area will make the image noisier if the per pixel read noise is the same. At the cost of a doubling of read noise variance (41% increase in read noise standard deviation). is the largest determinant of signal levels that determine signal-to-noise ratio and hence apparent noise levels. or effective light collection area per pixel sensor. not how this area is divided into pixels. assuming the aperture area is proportional to sensor area. correct exposure requires the use of long shutter speeds. On most cameras. or printed at the same size. where read noise (noise floor) is significant. The relative effect of both read noise and shot noise increase as the exposure is reduced. this salt-and-pepper noise can be mostly eliminated by dark frame subtraction. 3.6 Effects of sensor size The size of the image sensor. so larger sensors typically create lower noise images than smaller sensors. or both. or that the f-number or focal-plane illuminance is held constant. For images at lower signal levels (higher ISO settings).

Many cameras have settings to control the aggressiveness of the in-camera noise reduction.For instance. it may be a defect in a group of pixels in the image-taking sensor (spurious and unwanted. many people find . This ability to produce acceptable images at higher sensitivities is a major factor driving the adoption of DSLR cameras. There are many procedures for this. and average out the former while attempting to preserve the latter. If this is a single pixel. This decision can be assisted by knowing the characteristics of the source image and of human vision. if it covers a few pixels in an absolutely regular shape. if it is irregular. low-contrast detail that may have characteristics similar to noise.7 Sensor heat Temperature can also have an effect on the amount of noise produced by an image sensor due to leakage. Furthermore. which tend to use larger sensors than compacts. An example shows a DSLR sensor at ISO 400 creating less noise than a point-and-shoot sensor at ISO 100.8 Image noise reduction Most algorithms for converting image sensor data to an image. it may be more likely to be a true feature of the image. 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. involve some form of noise reduction. and that produced by a 1/2. However. but not strictly noise). 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. But a definitive answer is not available.5" compact camera sensor (with roughly 1/16 the area) at ISO 100. it is known that DSLRs will produce more noise during summer than winter. Most noise reduction algorithms perform much more aggressive chroma noise reduction. since there is little important fine chroma detail that one risks losing. 3. 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. 3. no algorithm can make this judgment perfectly. so there is often a tradeoff made between noise removal and preservation of fine. With this in mind.

seeking small regularities in massively random data. In cases of extreme noise. most camera manufacturers increase the noise reduction aggressiveness automatically at higher sensitivities. 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. such as astronomical images of very distant objects. it is not so much a matter of noise reduction as of extracting a little information buried in a lot of noise. Since noise levels increase as ISO sensitivity is increased. techniques are different. since its textured appearance mimics the appearance of film grain. . 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.luminance noise less objectionable to the eye.

a long exposure (integration time) emphasizes the inherent differences in pixel response so they may become a visible defect. and fixed pixel locations. Pixel noise therefore gives a number (commonly expressed in rms) that identifies FPN in all permitted imaging conditions. 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. 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. 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. It might be affected by changes in the environment like different temperatures. imager gain and incident illumination. which is the offset from the average across the imaging array at a particular setting (temperature. Sometimes pixel noise[2] as the average deviation from the array average under different illumination and temperature conditions is specified. which might strongly deteriorate if additional electrical gain (and noise) is included. imager temperature. In practice. . 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.[1] One is the DSNU (dark signal non-uniformity). exposure times. which describes the gain or ratio between optical power on a pixel versus the electrical signal output. etc. it is not expressed in a random (uncorrelated or changing) spatial distribution. it may vary with integration time. The latter can be described as the local. occurring only at certain. Although FPN does not change appreciably across a series of captures. 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). integration time) but no external illumination and the PRNU (photo response nonuniformity). The term "fixed pattern noise" usually refers to two parameters. material or interference with the local circuitry.

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. We kept the illumination level fixed at 3. In our measurements.1. 4. 1/4 and 1/2.1. and we also checked to ensure that the camera is focused before taking the pictures. We took 100 exposures each for three exposure times: 1/10. it is seen as the variation in pixel responsively over the CCD. is one source of pattern noise in digital cameras.1 PRNU (Photo Response Non-Uniformity) 4. or PRNU for short. and increasing the illumination level increases the non-uniformity of the illumination . produced by the Optoliner.1 Background Photo Response Non-Uniformity. we use the camera to take multiple images of a uniform scene. Repeat the calculations for the different exposure times to compare the PRNU. 4.5. 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 it is for CCD only. PRNU is the pixel variation under illumination.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. 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. while DSNU occurs as a variation in pixel responsively when the CCD is not illuminated. However.2 Methods To characterize the PRNU. One of the few engineering definitions for PRNU or "photoresponsenonuniformity" is in the photonics dictionary. Like DSNU. We expect the PRNU to increase with increasing illumination.

Since is the dominating term in Eq. As formulated in [11]. but for every pixel only therays of one colour component is passed through the CFA and subsequently converted into electronic signals by the sensor. including . g is the colour channel gain. we chose to increase the exposure times to mimic the effect of increasing illumination levels. A colour photo is represented in three colour components (i. during the image acquisition process. these signals are stored in the camera’s memory in a customized format. (1). and is the input signal of the scene.e. After the conversion. R. respectively. (1) and keeping the first two terms of the expansion where  is the denoised image and is the ensemble of the noises.455) is the gamma correction factor.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.. G. However.produced by the Opt linear. 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. and B). Finally. The PRNU pattern noise K can then be formulated as . (= 0. 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 dominating component of sensor pattern noise is photo response non-uniformity (PRNU). read-out noise and quantization (lossy Compression) noise. after applying Taylor expansion to Eq. For most digital cameras. (1). gamma correction and image enhancement. In acquiring an image. the lenses let through the rays of the three colour components of the scene. 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. This colour filtering is determined by the CFA. stand for dark current. The signals then undergo additional signal processing such as white balance. . and . K is the zero-mean multiplicative factor responsible for the PRNU. a camera output model can be expressed as where I is the output image. shot noise. In Eq. Figure 1 demonstrates the image acquisition process.

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

we present some experiments on device identification and image content integrity verification to validate the proposed PRNU extractionformula. Because the PRNU is formulated in Eq. It is also known as CFA interpolation or color reconstruction. PRNU and noise residual. as a result. (3) and (5) as a function of the noise residual W (i. zippering (abrupt unnatural changes of intensity over a number of neighboring pixels) and purple fringing  Maximum preservation of the image resolution . so demosaicing is part of the processing pipeline required to render these images into a viewable format. (4)). 4. 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. in the rest of the work we will use the two terms. The algorithm should have the following traits:  Avoidance of the introduction of false color artifacts.e. rather than using the camera's built-in firmware. 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. (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 . Addressing this shortcoming is the motivation of this work. We can see from Eq. such as chromatic aliases. Many modern digital cameras can save images in a raw format allowing the user to demosaic it using software.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). However. Eq. allowing the interpolation noise in the artificial components to contaminate the real PRNU in the physical components. In Section IV. interchangeably whenever there is no need to differentiate them. The aim of a demosaicing algorithm is to reconstruct a full color image (i.. a full set of color triples) from the spatially under sampled color channels output from the CFA.PRNU. Most modern digital cameras acquire images using a single image sensor overlaid with a CFA. Section V concludes this work.e. (2). In this work.

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

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

Although the 2×2 Bayer CFA is the most common CFA pattern. According to Eq. (7). R (red). (7) is artificially applied to calculate the colour. (7) means that if the colour component c is the same as the colour that the CFA pattern F allows to pass. without prior knowledge about the CFA. except that it is a 2 × 2 square array. 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.e . The other two colour components are to be determined by the demosaicking process. to make the proposed CD-PRNU versatile and applicable to cameras adopting different CFA patterns. G (green) and B (blue) before colour interpolation. That is to say that for each pixel . we will discuss the formulation and extraction of CD-PRNU. F. 5. the second part of Eq. 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. Otherwise. For each colour component of a pixel . then no demosaicking is needed because c has been physically captured by the sensor.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. (1) proposed in can be reformulated as .1 FORMULATION OF COLOUR DECOUPLED PRNU (CD-PRNU) In this section. First. the image output model of Eq. can be determined according to The first part of Eq. we makes no assumption about the CFA pattern. 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. i.CHAPTER 5 CD-PRNU (Color Decoupled Photo Response Non-Uniformity) 5.

3 CD-PRNU Extraction Algorithm . P can be extracted in the same way as the sensor pattern noise K is extracted (i. We can also use the same ML estimate as in Eq. (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 . Hence if the physical and artificial colour components can be separated / decoupled. That is where is a low-passed filtered version of the artificial components and is the corresponding ―sensor pattern noise‖. which is actually the interpolation noise.Eq. the PRNU is actually the interpolation noise P while. (3))..e. the PRNU remains unaffected by the interpolation noise. (9) suggests that in the artificial components. (9) that the physical components and artificial components have similar mathematical expression. It can also be seen from Eq. 5. 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. Eq. in the physicalcomponents.B.

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


For device identification purpose. ) of each camera Ci is generated by taking the weighted average of the PRNUs extracted from 30 photos of blue sky according to Eq.1. each responsible for 50. 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.e.4 Algorithm 1. (11). Cameras used in the experiments.5. 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).5 EXPERIMENTAL RESULTS In this section. 5.5. Noise residual extraction algorithm Input: original image I Output: colour decoupled noise residual W Noise residual extraction algorithm 5. Table 1. we need clean PRNUs (which appear as high frequency bands of images) as device . The six cameras are listed in Table1. The reference PRNU (i.

Because PRNU is often used in content integrity verification. other images with low-variation scenes (i.. 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. (6) will be used to measure the similarity between PRNUs (CD-PRNUs). For C2. such as rotation or scaling. in the following experiments.e. Actually. 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).0000). where smaller image blocks have to be analysed. C1. The reason blue-sky images are chosen in this work is because blue sky contains less scene details (high frequency signal). Generally speaking. However. Table 2 lists the identification rates. Another reason is that. in this experiment. Source camera identification requires similarity comparisons among PRNUs (CD-PRNUs) and therefore the feasibility of the chosen similarity metrics is important. thus giving better chance of extracting clean PRNU. if out of the six reference PRNUs (or CDPRNUs). In practice. 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. C3. Our empirical experience suggests that an average of 20 blue sky images is accurate enough. the key point is about demonstrating the different performance of the traditional PRNU and the proposed CD-PRNU. Fridrich suggested the use of the Peak to Correlation Energy (PCE) measure in [15]. the normalised cross-correlation has to be greater than a specified threshold for a camera to be identified as the source camera. its reference PRNU (or CD-PRNU) is most similar to the PRNU (or CD-PRNU).fingerprints for comparison against the PRNU extracted from individual images under investigation. a camera is identified as the source camera. Individually speaking. 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. because the smaller the images. so geometrical transformations will not be applied in order to prevent biased evaluation from happening. C5 and C6 perform significantly better when CD-PRNU is used in all cases. The purpose of this experiment is to demonstrate the capability of the proposed CD-PRNU in dealing with the colour interpolation noise. Taking the average of the PRNUs from 30 blue sky images is to further reduce variation. 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. therefore identification results become less reliable. C4. WI. the less data is available. normalised cross-correlation formulated as in Eq. of the image I under investigation. Therefore. Therefore. . scenes without significant details) can be used instead.

a ROC curve of the performance of PRNU and CD-PRNU are demonstrated. as listed in the Total column of Table 2. Figure 3. This has been graphically presented in Figure 3(a). we can see that CD-PRNU still outperforms PRNU significantly. 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. .when the statistics of the six cameras are pooled together. Performance comparison of source camera identification a) Overall identification rates when CD-PRNU and PRNU are used as fingerprint In Figure 3(b).

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.3G CPU and 3 GB RAM. it takes 0. these two operations are trivial and only incur negligible increase of time complexity. 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. The amount of data processed during the extraction of PRNU and CD-PRNU is the same. .Figure 3.526 seconds to compute the similarity between the PRNUs of two images of 2048 × 1536 pixels and 0.

Source camera identification rates using traditional PRNU and proposed CD-PRNU. we copied a 160 × 390-pixel area from Image I. .2 Content Integrity Verification We also carried out the following three content integrity verification experiments on 640 × 480-pixel images. and pasted it at approximately the same location in Image I.  In the first experiment.1 in Figure 4(a).5. 5.Table 2.3 as shown in Figure 4(c).2 in Figure 4(b) to create the forged Image I. The images in Figure 4(a) and (b) are taken by Olympus C730.

1 (b) Original Image I.1 (b) Original Image II. source image and forged images for the content verification experiments. pasted it at the area where the face of another person is in Image III.3 To detect the manipulated areas.2 (c) Forged Image III.2 in Figure 6(b). In Chen’s method [11].3 in Figure 5(c). 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. source image and forged images for the content verification experiments. source image and forged images for the content verification experiments.1 in Figure 5(a).2.2.2 in Figure 5(b) to create the forged Image II. Figure 6.2 and III. The original image. the windows are . (a) Original Image III. (a) Original Image II. (a) Original Image I.1 (b) Original Image III. The original image. to create the forged Image III. which covers the face of the person. Figure 5. II. The images in Figure 5(a) and (b) are also taken by the same camera.3  In the third experiment.3 in Figure 6(c).2 (c) Forged Image I.1 in Figure 6(a) taken by Canon Power Shot A400.Figure 4.3  In the second experiment. which is taken by Olympus C730. which covers the face of the person. pasted it at the area where the face of another person is in Image II. The original image.2 (c) Forged Image II. we cropped an 80 × 100-pixel area from Image II. we cropped a 60 × 80-pixel area from Image III.

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

By .3 Figure 7 shows the performance of the PRNU and CD-PRNU in terms of TP. The ROC curves for the integrity verification experiments on image I. Chen applies erosion and dilation operations with a square kernel in order to filter small areas identified as tampered with. the scheme cannot detect the manipulated area based on PRNU. 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)‖.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.1 is at approximately the same location as the original area in image I. which is marked along the horizontal axis of the ROC curve.1 Experiment on Image I. 5. It is clear that the ROC curve of the PRNU-based scheme mostly overlaps with that of Random Guess.3 across a range of correlation threshold T(t). FP and FN when authentication is carried out on image I. TN. a low threshold also results in the situation where more authentic blocks are mistakenly detected as manipulated. As a result. which means the authentication result is generally as unreliable as that of a random guess. Let α be the number of manipulated blocks and β be the number of authentic blocks. leading to higher TP. TN. However.2. However.2. As a result. A lower correlation (similarity) allows the algorithm to detect more manipulated blocks. This is because the area we copied from the source image I. In order to simplify the comparison and to obtain a fair result. the experiments on III. 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. 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. FP and FN. 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. ―the block dimensions impose a lower bound on the size of tampered regions that our algorithm can identify. giving rise to a higher FP. we use the raw data without any filtering to calculate the TP. which is marked vertically. an algorithm with better performance will have a higher true positive rate (). the ROC is formulated as At the same false positive rate .According to Chen‟s predication.5. Thus.3 is illustrated as Figure 8. The final authentication result is a image with the dilated areas highlighted as the tampered areas.

the CD-PRNU-based scheme results in a curve much higher than the PRNU-based method. Authentication results on image I.3.0 to 3.0. which means that by using CD-PRNU manipulated blocks can be detected more reliably. Figure 7.contrast. b) TN. 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. Figure 8.2.5. 5.2 Experiment on Image II. across a range of correlation threshold T(t).3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP.3 . with t varying from 0.

However. CD-PRNU‟s consistently higher TP and lower FN. indicating a slightly better performance of CD-PRNU. . b) TN. both PRNU and CD-PRNU can effectively detect the manipulated blocks as their ROC curves have suggested in Figure 10. Albeit their mixed performance in terms of TN and FP. mixed performance in terms of TN and FP can be seen in Figure 9(b) and 9(c).0 to 3.3. Figure 9. Figure 10 also shows that the ROC curve of CD-PRNU is still slightly higher than that of PRNU. with t varying from 0.When verifying the integrity of image II. Authentication results on image II. c) FP and d) FN across a range of correlation threshold T(t).0. as shown in Figure 9(a) and 9(d).3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP. again indicate its superiority to PRNU.

3.2.3 Experiment on Image III.3 conforms to Chen’s observation. although the performance of PRNU and CD-PRNU in terms of TN and FP are mixed. which is only about one quarter of the sliding window (128 × 128 pixels). as can be seen in Figure 11(b) and 11(c).Figure 10. approximately one quarter of the window.5. and therefore areas smaller than this should be filtered in order to remove the falsely identified noise. The experiment result on III.3. When the threshold t is higher than 1.e. 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). 5. the CD-PRNU-based method can identify smaller areas. respectively. 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. .3 When authenticating III. As a result. By contrast. Since the tampered area is 60 × 80 pixels.1. 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. the PRNU cannot correctly detect any manipulated blocks (i. 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). as demonstrated in Figure 11(a). the method based on PRNU can perform no better than a random guess. 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.

Figure 11. with t varying from 0. b) TN. c) FP and d) FN across a range of correlation threshold T(t).0 to 3. .0.3: Integrity verification performance of the PRNU and CD-PRNU in terms of a) TP. Authentication results on image III.

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