Watermark Placement in Watermarking of Time Varying Media Signals

Abstract

A method of placing a watermark in a video stream estimates motion between frames in the video stream, and computes a representative motion for a frame. Before embedding the watermark in that frame, the method spatially adjusts a digital watermark by the representative motion. This method is particularly suited for embedding a watermark in a video stream compressed using motion estimation. In this case, the method uses the motion vectors in the video stream to compute a dominant motion for a frame, and then shifts the watermark by this dominant motion before embedding it in the frame.

Description

RELATED APPLICATION DATA

This application is a continuation of U.S. application Ser. No. 10/300,921, filed Nov. 19, 2002, which claims benefit of U.S. Provisional Application 60/404,038 filed Aug. 15, 2002, which is hereby incorporated by reference.

TECHNICAL FIELD

The invention relates to digital watermarking.

BACKGROUND AND SUMMARY

Digital watermarking is a process for modifying physical or electronic media to embed a hidden machine-readable code into the media. The media may be modified such that the embedded code is imperceptible or nearly imperceptible to the user, yet may be detected through an automated detection process. Most commonly, digital watermarking is applied to media signals such as images, audio signals, and video signals. However, it may also be applied to other types of media objects, including documents (e.g., through line, word or character shifting), software, multi-dimensional graphics models, and surface textures of objects.

Digital watermarking systems typically have two primary components: an encoder that embeds the watermark in a host media signal, and a decoder that detects and reads the embedded watermark from a signal suspected of containing a watermark (a suspect signal). The encoder embeds a watermark by subtly altering the host media signal. The reading component analyzes a suspect signal to detect whether a watermark is present. In applications where the watermark encodes information, the reader extracts this information from the detected watermark.

Several particular watermarking techniques have been developed. The reader is presumed to be familiar with the literature in this field. Particular techniques for embedding and detecting imperceptible watermarks in media signals are detailed in the assignee's co-pending application Ser. No. 09/503,881 and U.S. Pat. No. 6,122,403, which are hereby incorporated by reference.

These watermarking techniques can be applied to embed auxiliary data in the compressed domain of multimedia signals. One challenge, however, is that some compression methods use a technique called “motion compensation” that may interfere with the watermark signal or create artifacts in the host signal in which the watermark is embedded. Motion compensation refers to a process often used in compression where a signal from a particular frame is predicted from one or more other frames. This technique enhances compression efficiency because the compressed version need only include a “key” frame (called the I frame), and predicted frames, coded as the difference between the frame and a predicted version of that frame.

“Drift compensation” refers to a method that prevents accumulation of visual distortions due to additive watermarking in compression schemes with motion compensation. Unless compensated properly, watermark error propagates both temporally and spatially as a result of motion compensation. Propagation of watermark signal to the consecutive frames has two potential disadvantages: it degrades the visual quality, and may interfere (most probably deconstructive interference) with the consecutive watermark signals reducing detection performance.

The invention provides a methods, systems and devices for enhancing watermark embedding in time varying signals. One particular implementation applies to digital watermarking of compressed video stream in the MPEG compression format. However, the invention is not limited to a particular compression format. For example, the method may be applied to watermark embedding of video in the spatial domain and uncompressed video.

One aspect of the invention is a system of placing a watermark in a video stream. The system estimates motion between frames in the video stream, and computes a representative motion for a frame. The system spatially adjusts a digital watermark by the representative motion before embedding it in the frame. This approach is particularly suited for embedding a watermark in a video stream compressed using motion estimation. The system can use the motion data in the video stream to compute a dominant motion for a frame, and then shift the watermark by this dominant motion before embedding it in the frame. Additional aspects of the invention include methods executed by programmable computing devices, and device implementations.

Further features will become apparent with reference to the following detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flow diagram illustrating an overview of method of placing a watermark in a time varying signal.

FIG. 2 is a flow diagram of a particular implementation of the method illustrated in FIG. 1.

DETAILED DESCRIPTION

This section describes a method for placing a watermark in compressed video. The following assumptions are made as a context for this method:

• • 1. Though the method is generally applicable to other compression formats, this example focuses on an MPEG video sequence with Group of Picture (GOP) structure comprising frames I . . . P . . . P . . . P . . . P . . . . At this moment, we assume that B-VOP's are skipped during watermarking if and when they exist in the GOP structure.
  • 2. Watermark detection is done per frame basis and the detection algorithm is robust or invariant to spatial shifts. (Many watermarking algorithms fit in this description.) Again this is not intended to be a limitation on the watermark placement method.
  • 3. In the spatial domain, the watermark signal has white noise characteristics. In particular, spatial shifts of the watermark signal are uncorrelated. This assumption can be relaxed and a limited correlation may be allowed.
  • 4. In temporal the direction, the watermark signal or at least a part of the signal remains constant. For instance, the same watermark signal is embedded in all frames, or a component of the watermark, e.g. a template for synchronization, remains constant throughout the frames. This assumption is applied for a GOP. An all-different watermark may be used in different GOPs in the video stream.
  • 5. During modification of the video samples (e.g., DCT-coefficients in the compressed stream) to superimpose the watermark, the resulting change in the bit-rate of the compressed video signal is proportional to the energy of the additive signal, e.g., watermark. Equivalently, under a fixed, or limited, bit-rate constraint, the energy of the additive signal is constant. Again, this is not intended as a limitation on the general method, yet applies to the example implementation described in this section.

In general, a watermarking process with drift compensation may be represented by the following equations. Superscript denotes the frame number. The letter I refers to an intra-coded Video Object Plane (VOP), and P refers to an inter-coded VOP with forward prediction.

I^k_w=I^k+W^k

P^k+1_w=P^k+1+W^k+1−D^k,

Where D^k is the drift compensation component, which is a motion compensated version of the cumulative error induced on the previous frame, i.e. the difference between decoded original and watermarked frames.

After drift compensation, each watermarked and reconstructed frame will only differ from the original reconstructed frame by the watermark amount.

R^k=I^k

R^k+1=R^k_MC+P^k+1=I^k_MC+P^k+1

R^k=I^k+W^k

R^k+1=R^k_MC+P^k+1+W^k+1−D^k

=R^k_MC+W^k_MC+P^k+1+W^k+1−W^k_MC

=I^k_MC+P^k+1+W^k+1

Note that, for each P-VOP the modification includes adding a signal with two components, namely W^k+1 and D^k. In scenes where there is a dominant motion, motion compensation in D^k translates to a spatial shift. Under assumption (3), we can say that W^k+1 and D^k are uncorrelated, even if W^k=W^k+1. As a result, the variance of the sum is expected to be larger than the variance of W^k+1. Under assumption (5), this translates to a higher increase in bit-rate. Note that, if W^k=W^k+1 and there is no motion, i.e. D^k=W^k, then the additive modification to the signal is zero. Therefore, there is no need for additional bits.

Method Overview

Above, we established the relation between the bit-rate increase due to watermarking and the drift compensation. The method explained here provides an improvement in terms of bit-rate and/or watermark detection, when there is a dominant motion in the sequence, e.g., panning.

FIG. 1 is a flow diagram illustrating an overview of method of placing a watermark in a time varying signal. The method estimates motion of the data between a reference frame and a frame of interest (100). This motion estimation may be performed based on pre-computed motion parameters in the data stream (e.g., motion vectors or affine transform parameters from a video stream), or based on motion parameters derived from motion estimation on the frames at the time of watermark embedding. Next, the method computes a representative motion for a particular embedding location, such as the current frame (104). Finally, the method geometrically transforms the digital watermark to be embedded in the current frame. The digital watermark embedder then performs its embedding operation on the frame to embed the watermark signal into the video data of the current frame.

As detailed below, our particular implementation spatially shifts the watermark signal in synchronization with the dominant motion in the sequence. When the watermark signal, or part of it, is constant (Assumption.4), the proposed method minimizes the variance of the additive modification signal, W^k+1−D^k. As a result, the same watermark detection strength is achieved with minimum increase in the bit-rate of the compressed video. Equivalently, this may translate to better detection for bit-rate constrained applications.

As an additional advantage, the proposed method improves the detection of the watermark in reconstructed B-VOP's, even if those frames (or the error residuals) have not been watermarked. In essence, we prevent possible de-constructive interference from two reference frames on the B-VOP.

Example Implementation

We would like to determine a global spatial shift value that will coincide with the motion of the most number of blocks of the frame. The compressed domain implementation has a unique advantage at this point. Motion vectors for each block (macro-block) of the frame may be obtained by simply decoding the motion vector VLC's, without employing a costly motion estimation algorithm. Under this observation, pseudo-code of the method is given below. This method is also illustrated in FIG. 2:

• • 1. Decode motion VLC's to obtain motion vectors (MV.x and MV.y) for each block (step 200).
  • 2. Compute the 2-D histogram of motion vectors (step 202)
    • a. For all blocks
      • i. Hist[MV.x][MV.y]+=1;
  • 3. Find the maxima of the histogram, i.e. the bin with highest count.
  • 4. Define the coordinates of the maxima as the dominant motion (DMV.x, DMV.y) (204).
  • 5. Shift the watermark W^k+1 by DMV (206).
    • a. W^k+1(x,y)=W^k+1(x+DMV.x, y+DMV.y)
  • 6. Execute the rest of the algorithm with updated watermark signal.

Additional Features

The method described above predicts how the watermark in the previous frame will propagate to the current frame. In order to achieve this we have used the motion vectors for the image blocks, and weigh them equally. We implicitly assume that same amount of watermark has been added to all blocks. When and if a local scaling is used for the watermark, the method may be implemented so as to weigh different image blocks with respect to the watermark energy they carry.

CONCLUDING REMARKS

Having described and illustrated the principles of the technology with reference to specific implementations, it will be recognized that the technology can be implemented in many other, different, forms. To provide a comprehensive disclosure without unduly lengthening the specification, applicants incorporate by reference the patents and patent applications referenced above.

The methods, processes, and systems described above may be implemented in hardware, software or a combination of hardware and software. For example, the auxiliary data encoding processes may be implemented in a programmable computer or a special purpose digital circuit. Similarly, auxiliary data decoding may be implemented in software, firmware, hardware, or combinations of software, firmware and hardware. The methods and processes described above may be implemented in programs executed from a system's memory (a computer readable medium, such as an electronic, optical or magnetic storage device).

The particular combinations of elements and features in the above-detailed embodiments are exemplary only; the interchanging and substitution of these teachings with other teachings in this and the incorporated-by-reference patents/applications are also contemplated.

Claims

1. A system for placing a watermark in a video stream comprising:

memory;

a programmed computer in communication with the memory, the programmed computer for estimating motion between frames in the video stream, for computing a representative motion for at least part of a frame to be embedded with a digital watermark, and for spatially adjusting the digital watermark by the representative motion, wherein the representative motion is derived from motion in the video over time, and the representative motion used to spatially adjust digital watermark is dependent on watermark energy.

2. The system of claim 1 wherein the motion is derived from motion data in a compressed video stream.

3. The system of claim 2 wherein the motion data comprises motion vectors.

4. The system of claim 1 wherein spatially adjusting the digital watermark comprises shifting the digital watermark in a direction specified by the representative motion.

5. The system of claim 1 wherein the representative motion comprises a dominant motion in the frame.

6. The system of claim 1 wherein the representative motion is derived from statistics of motion data from a plurality of locations in the frame.

7. The system of claim 1 wherein the spatially adjusted watermark is embedded into the video such that the watermark is robust to the spatial adjustment.

8. The system of claim 1 wherein the memory comprises a computer readable medium having instructions executed by the programmable computer.

9. A method of placing a watermark in a compressed data stream comprised of frames of time varying data, where the data stream includes frames compressed using motion estimation, the method comprising:

using a programmed computer to perform the acts of:

computing a representative motion for a frame based on motion data in the compressed data stream; and spatially adjusting a digital watermark to be embedded in the frame by the representative motion of the frame; wherein the representative motion is derived from motion in a frame, and the motion used to derive the representative motion is weighted based on the watermark energy.

10. The method of claim 9 wherein the motion data comprises motion vectors.

11. The method of claim 9 wherein spatially adjusting comprises shifting the digital watermark.

12. The method of claim 9 wherein the representative motion comprises a dominant motion derived from motion vector statistics.

13. The method of claim 9 wherein the spatially adjusted watermark is embedded into video frames so that the watermark is robust to spatial adjustment and is detectable in frames of the video despite spatial adjustment of the video.

14. The method of claim 9 wherein the representative motion is derived from motion of blocks in a frame, and the motion of the blocks used to derive the representative motion is weighted based on the watermark energy to be carried in the blocks such that blocks carrying more watermark signal are weighted more heavily.

15. A computer readable storage medium on which is stored instructions, which when executed by a computer, perform the method of claim 9.

16. A device for placing a watermark in a compressed video data stream comprised of frames of time varying data, where the data stream includes frames compressed using motion estimation, the device comprising:

memory;

a programmable computer in communication with the memory, the programmable computer for extracting motion vectors for a frame in the compressed video data stream, for computing a representative motion for at least one part of the frame based on the motion vectors in the compressed data stream, and for spatially adjusting a digital watermark by the representative motion before embedding the adjusted watermark in the part of the frame; wherein the motion vectors are weighted according to an amount of watermark energy to be embedded in blocks of the video frame corresponding to the motion vectors.

17. The device of claim 16 wherein the representative motion is derived from a statistical distribution of motion vectors for the frame.

18. The device of claim 17 where a single, dominant motion is computed for the part of the frame where the spatially adjusted watermark is to be embedded.

19. The device of claim 16 wherein the motion vectors are weighted according to an amount of watermark energy to be embedded in blocks of the video frame corresponding to the motion vectors.