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发布时间: 2020-07-16 |
图像处理和编码 |
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收稿日期: 2019-08-06; 修回日期: 2020-02-10; 预印本日期: 2020-02-17
基金项目: 国家自然科学基金项目(61876112,61601311);北京市优秀人才资助项目(2016000020124G088);北京市教委科研计划项目(SQKM201810028018);北京市长城学者基金项目(CIT & TCD20170322)
第一作者简介:
王丰, 1993年生, 男, 硕士研究生, 主要研究方向为多媒体信息安全。E-mail:739642962@qq.com;
王云飞, 男, 博士研究生, 主要研究方向为光学图像处理与加密。E-mail:wangyunfeichn@sina.com; 姚启钧, 男, 本科生, 主要研究方向为多媒体信息安全。E-mail:yaoqijun@outlook.com; 刘西林, 男, 博士, 讲师, 主要研究方向为图像处理、图像取证、正交变换。E-mail:liuxilin@tyut.edu.cn.
中图法分类号: TP309.7
文献标识码: A
文章编号: 1006-8961(2020)07-1366-14
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摘要
目的 随着互联网通信和多媒体技术的快速发展,单幅图像加密技术难以满足日益增长的数据传输需求。为提高图像加密系统的传输效率,同时保证安全性和鲁棒性,本文构建一种基于gyrator变换和多分辨率奇异值分解(multi-resolution singular value decomposition,MRSVD)的多图像加密算法。方法 首先,将明文图像每两幅组合为复数矩阵,利用改进的logistic映射生成混沌相位掩模,对复数矩阵进行gyrator域的双随机相位编码。其次,将变换后矩阵的实部分量和虚部分量组合为实数矩阵并进行多分辨率奇异值分解。最后,使用正交系数矩阵对多分辨率奇异值分解的结果进行线性组合得到密文图像。结果 实验结果表明,使用本文算法得到的解密图像的峰值信噪比大于300 dB,解密图像质量相较于对比算法的解密图像质量更好;密钥发生微小改变前后密文相关系数(correlation coefficient,CC)远小于0.20,明文像素值发生微小变化时像素变化率(number of pixels change rate,NPCR)与归一化平均变化强度(unified average changing intensity,UACI)分别约为0.999 0和0.333 7;密钥空间大小为5.616 9×1060,可以抵御蛮力攻击;当密文图像受到一定强度的高斯白噪声和剪切攻击时,本文算法能够较好地恢复明文图像。结论 所提出的多图像加密算法在高质量恢复明文图像的同时具有较高的安全性和较强的鲁棒性,可以应用于图像的内容保护与安全传输。
关键词
多图像加密; gyrator变换; 多分辨率奇异值分解; 改进的logistic映射; 双随机相位编码
Abstract
Objective The rapid development of the Internet communication and multimedia technology has allowed the convenient transmission of substantial video, image, and other multimedia data through networks at any moment. On the one hand, these data may be leaked in the transmission process and illegally used due to the openness and sharing of the internet. On the other hand, several images may contain sensitive information, such as human body images that can potentially reveal the privacy information of one person, including gender, weight, and health status. Remote sensing images may include important information, such as geographical location, sensor parameters, and the spectral characteristics of ground objects. Therefore, the protection of image content and secure communication have become important issues in the field of information security. Since the double random phase encoding (DRPE) was proposed, numerous encryption schemes, such as fractional Fourier transform, gyrator transform, Fresnel transform, and multiparameter discrete fractional Fourier transform, have been introduced in other domains. The majority of such algorithms focus on a single image. Multi-image encryption technology has been widely investigated in recent years to meet the growing demand for data transmission. This paper introduces a multi-image encryption algorithm based on gyrator transform and multiresolution singular value decomposition (MRSVD). Method First, every two images are combined into a complex matrix by precoding and then DRPE in the gyrator domain is performed, where chaotic phase masks are constructed using a modified logistic map. Second, the real and imaginary parts of the transformed results are spliced into a real matrix. MRSVD is implemented to improve the security. With a given mean and variance values, a Gaussian matrix is generated and an orthogonal coefficient matrix is obtained by singular value decomposition. Cipher images are obtained by linear combination of the MRSVD results. Plaintext images can be recovered using an authorized key through the reverse encryption process. The phase masks, rotation angles of gyrator transforms, and parameter of Gaussian matrix are generated by using the modified logistic map, which makes the storage and transmission convenient. The initial states of the modified logistic map are closely related to plaintext images, and this condition results in high-level security. Result Numerical simulations are performed on 120 grayscale images to demonstrate the feasibility and reliability of the proposal. The peak signal-to-noise ratio (PSNR) values of the decrypted images by using the proposed method with granted keys are larger than 300 dB. This result indicates that the quality of the decrypted images by using the proposed method is better than that obtained using other methods. The histograms of cipher images obey the Gaussian distribution, which is different from the results of plaintext images. The correlation coefficient value of cipher images is much less than 0.20 when keys are slightly changed. The decrypted results with a key that deviates from the correct value of 10-15 are chaotic. The average PSNR value is approximately 8.516 1 dB, and the average structural similarity is close to 0. When the pixel values of plaintext images increase by a small amount, the average number of pixel change rate and the unified average changing intensity are approximately 0.999 0 and 0.333 7, respectively. The key space is up to 5.616 9×1060, which can resist a brute force attack. For the cipher images attacked by Gaussian white noise and cropping, the proposed algorithm can still recover plaintext images and shows better robustness than two other algorithms. Conclusion A multilevel multi-image encryption approach based on gyrator transform and MRSVD is proposed in this study. The chaotic random phase masks and real-valued cipher image is convenient to storage and transmit. The identity orthogonal matrix obtained by singular value decomposition is utilized to share the MRSVD results. Such utilization increases the security of ciphertext. Experimental results demonstrate that the proposed method can restitute plaintext images with high quality and achieves high security and strong robustness. It can be applied for the protection of image content and secure communication.
Key words
multi-image encryption; gyrator transform; multi-resolution singular value decomposition(MRSVD); modified logistic map; double random phase encoding
0 引言
随着互联网通信和多媒体技术的迅速发展,每时每刻都有大量的视频、图像等信息通过网络进行传输。由于网络的公开性和共享性,这些数据可能在传输过程中泄露和被非法使用,其中某些图像包含敏感信息,如人体图像可以潜在反映性别、体重、健康状况等生物特征隐私信息(Jiang和Guo,2019),遥感图像中包括地理位置、传感器参数、地物光谱特征等重要信息(刘禹佳等,2019)。而通过3D打印技术制作石膏人脸已经可以成功破解4种流行旗舰手机的人工智能(artificial intelligence,AI)人脸识别解锁功能(Brewster,2018)。因此,对图像内容的保护已成为信息安全领域的重要问题之一。
自双随机相位编码技术被提出以来,图像加密已成为保护图像内容的一种有效方法(Liu等,2014;Guo等,2017;Bao和Zhou,2015)。为了提高系统的安全性,研究者在双随机相位编码(double random phase encooling, DRPE)框架的基础上,通过引入含随机变化参数的变换构建新的加密算法,如菲涅尔变换(Luan等,2019;Yadav和Singh,2018)、离散分数阶随机变换(Gong等,2018)、多参数的离散分数阶傅里叶变换(Azoug和Bouguezel,2016;Bhatnagar等,2014)等。姚丽莉等人(2016)利用矢量分解和gyrator变换相结合实现非对称图像加密。陈艳浩等人(2019)构建了一种基于差异混合掩码与混沌gyrator变换的光学图像加密算法,提高了光学加密技术在抗选择明文攻击能力时的解密质量。但是,这些图像加密算法主要针对单幅图像。
图像信息储存和传输数据量的急剧增加使得多图像加密技术得到广泛关注(Xi等,2019;Wang和Zhao,2012;Bhatnagar等,2013;Deepan等,2014;Shao等,2018;王仁德等,2019;Sui等,2019)。Wang和Zhao(2012)提出一种基于相干叠加原理和数字全息的光电图像加密解密技术,实现多图像加密。Bhatnagar等人(2013)提出离散分数阶小波域(discrete fractional wavelet transform,DFrWT)的双随机相位编码,并构造系数矩阵将多组变换后矩阵组合实现多图像加密,但在明文图像数量
基于以上分析,本文使用gyrator变换和多分辨率奇异值分解构建了一种多图像加密算法。其中,gyrator变换的旋转角度参数可随机选取,多分辨率奇异值分解具有多尺度适应性,使得加密系统具有较高的安全性。混沌序列与明文图像密切相关,使得算法能够有效抵抗选择明文攻击。实验仿真表明,本文算法能够实现多幅图像的加密和解密,解密图像具有较高的峰值信噪比和良好的稳健性。
1 理论基础
1.1 改进的logistic映射
基于传统logistic映射,Hanis和Amutha(2019)提出一种改进的logistic映射,定义为
$ {Z_{n + 1}} = \mu {Z_n}(1 - {Z_n})(1 - Z_n^2) $ | (1) |
式中,0 <
1.2 gyrator变换
对于一幅灰度图像
$ \begin{array}{*{20}{c}} {G(u,v) = \int {\int {f(x,y)} } {K_\alpha }(x,y;u,v){\rm{d}}x{\rm{d}}y = }\\ {\frac{1}{{|{\rm{sin}}\alpha |}}\int {\int {f(x,y)} } \times }\\ {{\rm{exp}}\left( {{\rm{i}}2\pi \frac{{(uv + xy){\rm{cos}}\alpha - (uy + vx)}}{{{\rm{sin}}\alpha }}} \right){\rm{d}}x{\rm{d}}y} \end{array} $ | (2) |
式中,
1.3 多分辨率奇异值分解
令
1) 将图像
2) 计算中心化矩阵和散布矩阵
3) 令
4) 重构矩阵
2 本文算法
本文提出的多图像加密算法流程如图 2所示,首先将
假设待加密的明文图像分别为
1) 将
$ {{X_0} = \frac{2}{k}\sum\limits_{f \in \mathit{\boldsymbol{T}}} {\sum\limits_{i = 0}^{255} {f(i)} } \cdot H(i)} $ | (3) |
$ {{X_1} = \frac{2}{k}\sum\limits_{f \in {\mathit{\boldsymbol{T}}^\prime}} {\sum\limits_{i = 0}^{255} {f(i)} } \cdot H(i)} $ | (4) |
式中,
$ {{z_0} = {X_0}(\,{\rm{mod}}1)} $ | (5) |
$ {{z_1} = {X_1}(\,{\rm{mod}}1)} $ | (6) |
根据式(1),经过
2) 对复数矩阵
$ {\mathit{\boldsymbol{g}}_t} = {G^\beta }\{ {G^\alpha }\{ {\mathit{\boldsymbol{S}}_t} \cdot {\mathit{\boldsymbol{P}}_1}\} \cdot {\mathit{\boldsymbol{P}}_2}\} $ | (7) |
式中,
3) 分别提取矩阵
$ {\mathit{\boldsymbol{A}}_t} = \left[ {\begin{array}{*{20}{c}} { Re ({\mathit{\boldsymbol{g}}_t})}&{ Im ({\mathit{\boldsymbol{g}}_t})}\\ { - Im ({\mathit{\boldsymbol{g}}_t})}&{ Re ({\mathit{\boldsymbol{g}}_t})} \end{array}} \right] $ | (8) |
式中,运算符
4) 对矩阵
5) 根据均值为
$ \mathit{\boldsymbol{W}} = \mathit{\boldsymbol{US}}{\mathit{\boldsymbol{V}}^{\rm{T}}} $ | (9) |
6) 将
$ \begin{array}{*{20}{c}} {{\mathit{\boldsymbol{I}}_1} = \mathit{\boldsymbol{U}}(1,1){\mathit{\boldsymbol{M}}_1} + \mathit{\boldsymbol{U}}(1,2){\mathit{\boldsymbol{M}}_2} + \cdots + \mathit{\boldsymbol{U}}(1,k/2){\mathit{\boldsymbol{M}}_{k/2}}}\\ {{\mathit{\boldsymbol{I}}_2} = \mathit{\boldsymbol{U}}(2,1){\mathit{\boldsymbol{M}}_1} + \mathit{\boldsymbol{U}}(2,2){\mathit{\boldsymbol{M}}_2} + \cdots + \mathit{\boldsymbol{U}}(2,k/2){\mathit{\boldsymbol{M}}_{k/2}}}\\ \vdots \\ {{\mathit{\boldsymbol{I}}_{k/2}} = \mathit{\boldsymbol{U}}(k/2,1){\mathit{\boldsymbol{M}}_1} + \mathit{\boldsymbol{U}}(k/2,2){\mathit{\boldsymbol{M}}_2} + \cdots + }\\ {\mathit{\boldsymbol{U}}(k/2,k/2){\mathit{\boldsymbol{M}}_{k/2}}} \end{array} $ | (10) |
式中,
使用授权的密钥,通过上述加密的逆过程可以恢复得到明文图像。具体过程如下:
1) 使用克莱姆法则对密文求解得到多分辨率奇异值分解结果
2) 分别对
3) 根据
$ \mathit{\boldsymbol{A}}_t^\prime = \left[ {\begin{array}{*{20}{l}} {{\mathit{\boldsymbol{A}}_{11}}}&{{\mathit{\boldsymbol{A}}_{12}}}\\ {{\mathit{\boldsymbol{A}}_{21}}}&{{\mathit{\boldsymbol{A}}_{22}}} \end{array}} \right] $ | (11) |
则
$ \mathit{\boldsymbol{g}}_t^\prime = \frac{{{\mathit{\boldsymbol{A}}_{11}} + {\mathit{\boldsymbol{A}}_{22}}}}{2} + {\rm{i}}\frac{{{\mathit{\boldsymbol{A}}_{12}} - {\mathit{\boldsymbol{A}}_{21}}}}{2} $ | (12) |
4) 对复数矩阵
$ \mathit{\boldsymbol{S}}_t^\prime = {G^{ - \alpha }}\{ {G^{ - \beta }}\{ \mathit{\boldsymbol{g}}_t^\prime \cdot {\mathit{\boldsymbol{\bar P}}_1}\} \cdot {\mathit{\boldsymbol{\bar P}}_0}\} $ | (13) |
式中,
5) 分别提取复数矩阵
$ {\mathit{\boldsymbol{f}}_{2t - 1}^\prime = Re \{ \mathit{\boldsymbol{S}}_t^\prime \} } $ | (14) |
$ {\mathit{\boldsymbol{f}}_{2t}^\prime = Im \{ \mathit{\boldsymbol{S}}_t^\prime \} } $ | (15) |
3 实验结果分析
本文算法实验平台使用MATLAB 2015b,处理器为Intel(R)Core(TM)i5-6300HQ @2.30 GHz,内存为8 GB的Windows 10操作系统。分别从BSDS500(https://blog.csdn.net/u014722627/article/details/60140789)和Caltech101(http://www.vision.caltech.edu/Image_Datasets/Caltech101/)两个图像数据库中随机选取60幅图像进行实验,并将图像尺寸调整为256×256像素,6幅图像如图 3所示。改进的logistic映射的控制参数
3.1 加密和解密结果
为了客观评价解密图像的质量,使用峰值信噪比(peak signal to noise ratio,PSNR)、结构相似度(structural similarity index,SSIM)和相关系数(correlation coefficient,CC)作为评价指标。明文图像
$ P = 10{\rm{lg}}\left( {\frac{{{{255}^2}}}{{\frac{1}{{NM}}\sum\limits_{y = 0}^{N - 1} {\sum\limits_{x = 0}^{M - 1} {({f_r}(} } x,y) - f_r^\prime (x,y){)^2}}}} \right) $ | (16) |
$ {S = \frac{{(2{\mu _{{f_r}}}{\mu _{f_r^\prime }} + {c_1})(2{\sigma _{{f_r}f_r^\prime }} + {c_2})}}{{(\mu _{{f_r}}^2 + \mu _{f_r^\prime }^2 + {c_1})(\sigma _{{f_r}}^2 + \sigma _{f_r^\prime }^2 + {c_2})}}} $ | (17) |
$ {C = \frac{{E\{ [{\mathit{\boldsymbol{f}}_r} - E({\mathit{\boldsymbol{f}}_r})][\mathit{\boldsymbol{f}}_r^\prime - E(\mathit{\boldsymbol{f}}_r^\prime )]\} }}{{\sqrt {E\{ {{[{\mathit{\boldsymbol{f}}_r} - E({\mathit{\boldsymbol{f}}_r})]}^2}\} } \sqrt {E\{ {{[\mathit{\boldsymbol{f}}_r^\prime - E(\mathit{\boldsymbol{f}}_r^\prime )]}^2}\} } }}} $ | (18) |
式中,
首先通过实验分析多分辨率奇异值分解参数的选取对解密图像质量的影响,分别按照
表 1
不同参数算法正确解密时PSNR统计结果
Table 1
Statistical results of PSNR in different parameters under correct decryption
最大值 | 最小值 | 均值 | |
2 × 2 | 312.837 3 | 304.849 1 | 309.209 8 |
2 × 4 | 311.367 8 | 304.313 1 | 308.430 7 |
4 × 2 | 311.479 6 | 304.971 0 | 308.468 6 |
4 × 4 | 310.133 0 | 303.901 3 | 306.854 7 |
注:加粗字体为均值最优结果。 |
表 2
不同算法正确解密时PSNR统计结果
Table 2
Statistical results of PSNR in different algorithms under correct decryption
/dB | |||||||||||||||||||||||||||||
算法 | 最大值 | 最小值 | 均值 | ||||||||||||||||||||||||||
DFrWT | 233.582 8 | 224.204 4 | 228.547 7 | ||||||||||||||||||||||||||
CFrFT | 178.886 7 | 175.369 7 | 177.113 4 | ||||||||||||||||||||||||||
本文 | 312.837 3 | 304.849 1 | 309.209 8 | ||||||||||||||||||||||||||
注:加粗字体为各列最优结果。 |
图 5给出了图 3所示明文图像的密文和正确解密结果,使用本文加密算法得到的密文图像信息混乱无序,攻击者难以从中直接获取有效信息。当使用授权的密钥时,能够正确恢复明文图像。使用本文算法对120幅图像进行测试,加密耗时22.92 s,解密耗时62.75 s。
3.2 抗统计攻击性能分析
对加密算法的抗统计攻击性能分析,主要包括明文、密文的直方图和相邻像素的相关系数。图 6为图 3所示明文图像及其密文图像的灰度直方图,不同明文图像的灰度直方图具有明显的峰值,而它们的密文图像直方图呈现很接近的高斯白噪声分布。因此,该算法能够将明文图像转化为高斯白噪声,隐藏明文图像的信息。
一般而言明文图像的相邻像素之间具有很强的相关性,加密操作是尽可能破坏其相关性。随机从图 3所示的明文图像及图 5对应的密文图像中选取5 000对相邻像素点,这些相邻像素之间在水平、垂直、对角线方向上的相关系数如表 3所示,明文图像(图 3(a)(b))以及密文图像(图 5(a))的相邻像素相关分布如图 7所示。可以看出,明文图像相关系数接近于1.000 0,相关分布图中像素点分布在主对角线上,密文图像在3个方向上的相关系数接近于0。实验结果表明,本文算法可以有效破坏明文图像相邻像素之间的相关性。
表 3
明文图像及其密文图像相关系数
Table 3
Correlation coefficients of plaintext and cipher images
3.3 算法敏感性分析
对算法敏感性进行3个方面的分析:1)使用存在微小变化的密钥对明文图像进行加密;2)使用存在微小变化的密钥对密文图像进行解密;3)明文发生微小变化时密文图像的差异性。
首先,使用微小变化的密钥对明文图像进行加密并分析密文的相关性。图 8给出了当初始值
其次,通过改变logistic映射的初值和控制参数进行解密,统计解密图像的PSNR和SSIM。当待测参数改变时,其余参数保持不变。图 9为初始值
此外,对明文图像像素变化的敏感性引入像素变化率(number of pixels change rate,NPCR)和归一化平均变化强度(unified averaged changed intensity,UACI)来进行客观评价,具体为
$ {D(i,j) = \left\{ {\begin{array}{*{20}{l}} 0&{{C_1} = {C_2}}\\ 1&{{C_1} \ne {C_2}} \end{array}} \right.} $ | (19) |
$ {{N_{PCR}} = \frac{1}{{MN}}\sum\limits_{i = 1}^M {\sum\limits_{j = 1}^N D } (i,j) \times 100\% } $ | (20) |
$ {{U_{ACI}} = \frac{1}{{MN}}\sum\limits_{i = 1}^M {\sum\limits_{j = 1}^N {\frac{{|{C_1}(i,j) - {C_2}(i,j)|}}{F}} } \times 100\% } $ | (21) |
式中,
每幅明文图像任选一组像素点对像素值增加20,进行100次随机测试,NPCR和UACI的平均值如图 11所示。可以看出,明文像素值产生微小改变时,密文图像会发生很大的变化。这是由于本文混沌映射初值与明文图像密切相关,有利于保证系统的安全性。
3.4 密钥空间
本文算法利用改进的logistic映射生成混沌相位掩码和旋转角度,密钥空间主要根据混沌映射来决定。改进的logistic映射有1个独立的控制参数
3.5 抗选择明文攻击
3.6 鲁棒性分析
在数据传输过程中,密文数据可能出现噪声污染。为检验本文算法对噪声攻击的鲁棒性,对密文图像添加均值为0、方差(噪声强度)为δ的高斯白噪声,PSNR、SSIM的平均值结果如图 13所示,并与DFrWT算法(Bhatnagar等,2013)、CFrFT算法(Sui等,2019)的结果进行比较。可以看出,解密图像的质量均随着噪声强度的增大而不断降低,但是使用本文算法能够得到较高的PSNR和SSIM。图 14显示了高斯噪声强度
密文图像在传输过程中,可能会遭到破坏导致部分数据缺失。为了测试本文算法的抗剪裁能力,将密文中心分别剪切5%、10%、15%、20%、25%再进行解密,即将子块内像素点置0,解密图像的PSNR和SSIM平均值如图 15所示,并与DFrWT算法(Bhatnagar等,2013)和CFrFT算法(Sui等,2019)的结果进行比较。可以看出,本文算法在受到剪切攻击后,解密图像质量明显高于其他两种算法。图 16为3种算法在密文数据中心缺失5%后的解密图像。可以看出,本文算法在受到剪切攻击后,仍可恢复出明文信息并且更不易受到密文损失大小的影响。实验结果表明,本文算法具有更强的抗剪裁性。
4 结论
提出一种结合gyrator变换和多分辨率奇异值分解的多图像加密算法。该算法得到的密文图像为实数值图像,相对于复数值的加密算法,密文的存储和分发更加便利。同时,使用奇异值分解得到的正交矩阵作为系数矩阵构建线性方程组得到密文图像。实验结果表明,本文算法能够实现多幅图像的加密和解密,并且可以高质量地恢复出原始图像,算法敏感性高,可有效抵抗蛮力攻击、选择明文攻击,并通过对比实验表明对高斯噪声以及剪切攻击具有较强的鲁棒性。
由于本文算法密文数量多,在未来的研究中将考虑如何降低密文的存储空间。同时将本文算法模型推广到多幅彩色图像的加密,增加算法的适用性。
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