Analyzing the Performance of Watermarking

Based on Swarm Optimization Methods

A. Lavanya and V. Natarajan

Department of Instrumentation Engineering, MIT,

Anna University, Chennai-600 044

Abstract. Digital image watermarking is the process of inserting data into an

image. Nowadays, digital watermarks are being recognized as a solution to pro-
tect copyright of the digital images. In this study, an attempt has been made to
retrieve watermark same as original watermark from the embedded image by
Cat Swarm Optimization (CSO) technique. Embedding watermarks in frequen-
cy domain can usually be achieved by modifying the least significant bits of the
transformation coefficients. Rounding approach is applied frequently to retrieve
the hidden watermark in an image differing from the original watermark.
Swarm intelligence techniques are proposed to eliminate the rounding errors
caused by the simple approach while transferring the image from frequency
domain to spatial domain. Results are demonstrated with less computation
time, less number of iteration and less PSO time-varying inertia weight factor
for CSO method in comparison with Particle Swarm Optimization (PSO).

Keywords: Watermarking, Cat Swarm Optimization, Particle Swarm Optimi-

zation, PSO time-varying inertia weight factor method.

1 Introduction
Digital image watermarks are categorized into visible and invisible groups. Visible
watermarks are visual patterns like logos embedded into one side of an image (Pan et
al.), can be easily perceived and identified by the viewer and also be removed or de-
stroyed easily. On the other hand, invisible watermarks are embedded on the
unknown sides of the images which cannot be perceived under normal viewing condi-
tions and are more robust than visible watermarks. Only the authorized people can
extract the embedded watermark. Based on robustness, invisible watermarks are clas-
sified into robust, semi-fragile and fragile (Pan et al. 2004). Robust watermarks can
resist some image manipulations by scaling, cropping, compression, etc. Semi-fragile
watermarks can be destroyed only when user-specified threshold is exceeded. Fragile
watermarks can easily be demolished if a slight change occurs on the host image and
can detect unauthorized modifications on the watermarked images. This property of
fragile watermarking methods is mainly utilized for the purpose of image authentica-
tion in the area of satellite or medical imagery. Fragile watermarking techniques are
divided into two classes - spatial domain and frequency domain. In the spatial do-
main, watermarks are embedded by modifying the pixel values directly and its appli-
cation is easy (Kallel et al. 2007; Walton 1995; Schyndel et al.1994). However, the

N. Meghanathan et al. (Eds.): Advances in Computing & Inf. Technology, AISC 178, pp. 167–176.
springerlink.com © Springer-Verlag Berlin Heidelberg 2013
168 A. Lavanya and V. Natarajan

main disadvantages of early fragile watermarking technique are the easiness of by-
passing the security (Fridrich et al. 2000; Lin and Delp 1999) and the failure of lossy
compression of the image without damaging the watermark (Alomari and Al-Jaber
2004). On the other hand, in the frequency domain, watermarks can be embedded by
modifying the transform coefficients of Discrete Cosine Transform (DCT) (Li 2004;
Aslantas et al. 2007, 2008; Shih and Wu 2005a, 2005b) and Discrete Wavelet Trans-
form (DWT) (Li and Si 2007; Winne et al. 2002; Ganic and Eskicioglu 2004). The
main advantages of frequency domain methods are that they can be easily adapted to
lossy compression systems, which have the ability to embed data in the compressed
representations and have ability to reveal how an image has been damaged or altered.
In recent years, the performances of digital watermarking methods have been im-
proved by artificial swarm intelligence techniques such as PSO, PSO with time-
varying inertia weight and CSO. The PSO algorithm was originally introduced in
terms of social and cognitive behavior by Kennedy and Eberhart et al. 1995. After
each and every iteration the personal best, pbest and global best, gbest are updated for
each particle whenever a better or more dominating solution (maximum or minimum
fitness value) is found. This process continues, iteratively, until either the desired re-
sult is converged upon, or it’s determined that an acceptable solution cannot be found
within computational limits (Veeramachaneni et al. 2007). The PSO formulae define
each particle as a potential solution to a problem in a D-dimensional space, with the ith
( )
particle represented as X i = xi1, xi 2 , xi 3 ,.....xiD . Each particle also remembers its
previous best position, designated as pbest, Pi = ( pi1, pi 2, pi 3,... piD ) and its veloci-
ty Vi = (vi1,vi 2,vi 3,...viD ) (Carlisle and Dozier 2000). In each generation, the velocity
of each particle is updated, being pulled in the direction of its own previous best posi-
tion (pi) and the best of all positions (pg) reached by all particles until the preceding
generation. The original PSO formulae developed by Kennedy and Eberhart were
modified by Shi and Eberhart 1998 with the introduction of an inertia parameter, ω ,
that was shown empirically to improve the overall performance of PSO.
Vidk +1 = ωVidk + c1rand1 ( )(Pid − X idk ) + c2rand 2 ( )(Pgd − X idk ), d = 1,2...D (1)

X id(k +1) = X idk + Vidk +1 , d = 1,2... D (2)

where rand1() and rand2() are samples from a uniform random number generator, k
represents a relative time index, c1 is a weight determining the impact of the previous
best solution and c2 is the weight on the global best solution’s impact on particle ve-
locity. For more details of the particle swarm optimization algorithm the reader is re-
ferred to (Veeramachaneni et al. 2003, 2007).
Generally, in population-based search optimization methods, considerably high di-
versity is necessary during the early part of the search to allow the full range of the
search space. On the other hand, during the latter part of the search, when the algo-
rithm is converging to the optimal solution, fine-tuning of the solutions is important
to find the global optima efficiently (Ratnaweera et al. 2004). Considering these
concerns, Shi and Eberhart 1999 have established a significant improvement in the
Analyzing the Performance of Watermarking Based on Swarm Optimization Methods 169

performance of the PSO method with a linearly varying inertia weight ( ω ) over the
generations. The mathematical representation of this concept is given by (3)
where ω is given by

ω = (ω1 − ω2 ) ×
(MAXITER − k ) + ω (3)
2
MAXITER
where ω1 and ω2 are the initial and final values of the inertia weight respectively and
k is the current iteration number, MAXITER is the maximum number of allowable
iterations. Through empirical studies, Shi and Eberhart 1999 have observed that the
optimal solution can be improved by varying the value from 0.9 at the beginning of
the search to 0.4 at the end of the search for most problems by using Eqn. (3). This
version of PSO is referred to as time-varying inertia weight factor method. Most early
developments in PSO have been proven to be effective in optimizing static problems
(Eberhart and Shi 2001). However, most real-world applications are identified as non-
linear dynamic systems. Eberhart and Shi 2001 found that the PSO concept is not
very effective for tracking dynamic systems. Instead, they have proposed a random
inertia weight factor for tracking dynamic systems.
Cat swarm optimization algorithm is first introduced by Chu and Tsai in 2007. This
optimization algorithm was proposed based on inspecting the behavior of the cat
(Wanga et al. 2010). The two behavioral traits of cats are modeled for CSO algorithm
and they are seeking mode and tracing mode. The details of the CSO are given below:
Step 1: Create N cats.
Step 2: Randomly sprinkle the cats into the D-dimensional solution space. Randomly
set the velocities’ values of all D dimensions of each cat. The velocity value should be
in the range of the maximum velocity of each dimension. Then, choose the number of
cats randomly and set them to tracing mode, while set the others to seeking mode ac-
cording to a given mixture ratio (MR). MR dictates the joining of seeking mode with
tracing mode.
Step 3: In step 2 randomly sprinkled cats in D-dimensional space have random posi-
tion at initial state, use positions of cats in the fitness function to evaluate fitness val-
ues of cats and keep the best cat in memory. The position of the best cat (X best)
represents the best solution so far.
Step 4: Set the flag (tracing and seeking) for each randomly selected cat according to
MR ratio, move the cats according to their flags. If cati is in seeking mode then apply
the cat to the seeking mode process detailed in Step 5; otherwise, apply it to the trac-
ing mode process detailed in Step 6.
Step 5: First, make j copies of the current position of cati, j equals the Seeking Memo-
ry Pool (SMP) of cati. If the position where the cat is already standing will be one of
the candidate positions, let j = (j -1), and retain the present position as one of the can-
didates. Second, for each copy, according to the Counts of Dimension to Change
(CDC), randomly plus or minus the Seeking Range of the selected Dimension (SRD)
percents of the present values and replace the old ones. SRD is the seeking range of
the selected dimension. Third, calculate the fitness value (FS) for each new candidate
position. Fitness value is computed from fitness function. Fitness value varies accord-
ing to position of cats. If all FSs are equal, set all the selecting probability of each
170 A. Lavanya and V. Natarajan

candidate position to 1; otherwise, compute their selecting probability by Eq. (4). FSb
is the best fitness value so far. If the goal of the fitness function is to find the mini-
mum solution, then FSb equals to FSmin (Minimum possible fitness value); otherwise,
FSb equals to FSmax (Maximum possible fitness value). Lastly, pick the new candidate
position to move the candidate point according to those selecting probability and re-
place the position of cati
FS i − FS b
Pi = , where 0 < i < j (4)
FS max − FS min
Step 6: First, update the velocities for every dimension ( vi , d ) according to Eq. (5),
where Xbest,d is the position of the cat having the best fitness value so far; Xi,d is the
position of cati; c1 is a constant; and r1 is a random value in the range of [0, 1].
Second, if some new velocities are out of their maximum velocity range, they are set
to the limit. Third, update the position of cati according to Eq. (6).

vi , d = ω × vi , d + r1 × c1 × ( X best , d − X i , d ), d = 1,2... D, (5)

X i , d = X i , d + vi , d . (6)

Step 7: Newer-pick number of cats (flags changed randomly from seeking to tracing
mode) and set them to seeking or tracing mode according to MR.
Step 8: Check the termination condition; if satisfied, terminate the program; other-
wise, repeat Steps 3 through 7.
This study employs procedures for watermark embedding and extracting, similar to
the procedures developed by Aslantas et al. 2008 and Pei et al. 2008 ; Shih and Wu
2005a; Aslantas et al. 2009). Aslantas et al.2009 analyzed GA, DE, PSO and CSA
algorithms in terms of the quality of the results and the convergence rate. They con-
cluded that DE, CSA and PSO algorithms seem to be a promising approach for opti-
mization problems.

2 Methodology
When the binary watermark image is W with size Mw x Nw and the host image, I
with size M x N. Then to insert a watermark, the host image should be transformed
from spatial domain to DCT domain frequency bands. The host image is first divided
into 8x8 image blocks and for each image block DCT is performed and the coeffi-
cients in the frequency bands (IDCT) are obtained as follows:
IDCT=DCT (I) (7)
Only four coefficients of each 8 x 8 block in IDCT are modified for
watermark embedding. The chosen positions for watermark embedding are
I (DCT DCT DCT DCT
m ,n ) ( 3,1), I ( m,n ) ( 2,2), I ( m ,n ) (1,3) & I ( m ,n ) (1,4) respectively. LSB modification
is employed as an embedding method. The watermark is embedded into the integer
part of absolute real number of IDCT so as to obtain IWDCT. After that, inverse DCT
Analyzing the Performance of Watermarking Based on Swarm Optimization Methods 171

(IDCT) operation is applied to IWDCT to obtain IWR, which is the watermarked real
number image. Finally, all real numbers in IWR are translated into integers and wa-
termarked image (IW) is obtained. Watermark extracting method is also based on
LSB modification as watermark embedding method. In order to extract the water-
mark, first, watermarked image is transformed into DCT domain, second the integer
parts of absolute values belonging to specific positions (where the watermark is em-
bedded) of the DCT domain are obtained followed by translation of decimal values to
binary format and finally, LSBs of the obtained binary values reveal the watermark.
In the watermarking method described above, some degree of rounding errors
occur due to the conversion from real numbers to integers during the process of trans-
formation of image from frequency domain to spatial domain. An example of water-
mark embedding and extracting operation is shown in Fig. 1. The figure also
illustrates the errors caused by using simple rounding technique in translating real
numbers to integers. First, DCT of 8 x 8 host image (Fig. 1(a)) is computed to obtain
Fig. 1 (c). Next, the watermark (Fig. 1(b)) is embedded into the transformed image
(Fig. 1(c)) by employing LSB modification. Then, the watermarked image (Fig. 1(d))
is transformed into its spatial domain by performing IDCT. As seen from Fig. 1(e),
pixel values of the image are real numbers. Finally, the watermarked image in spatial
domain (Fig. 1(f)) is obtained from Fig. 1(e) by rounding the real numbers into integ-
ers. The embedded watermark can be extracted by reversing the preceding computa-
tions. DCT of the watermarked image (Fig. 1(f)) is calculated to obtain Fig. 1(g). The
watermark is then extracted (Fig. 1(h)) from the specific locations of the transformed
watermarked image of (Fig. 1(g)). It can be observed from Fig. 1, that the embedded
watermark [1 0 0 1] is different from the extracted watermark [0 0 1 0] because of the
rounding errors.

(a) (b) (c) (d)

(e) (f) (g) (h)

Fig. 1. Watermark embedding and extracting based on simple rounding method (a) Original
image (b) The binary watermark (c) DCT transformed original image (d) Watermarked image
in DCT domain (e) IDCT transformed watermarked image (f) Rounded watermarked image (g)
DCT transformed watermarked image (h) Extracted watermark

For solving the preceding problem, CSO is employed to achieve a suitable solution
for translating real numbers into integers. The developed CSO based watermark em-
bedding technique is similar to the procedures developed in (Aslantas et al.2008).
172 A. Lavanya and V. Natarajan

1. Perform DCT to each block of the host image:

IDCT = DCT (I) (8)
2. Embed watermark into the coefficients of I DCT as explained above:
I WDCT =W I DCT (9)
3. Compute inverse DCT of IWDCT to obtain watermarked image:
IWR = IDCT (I WDCT) (10)
4. Round the real numbers of IWR using CSO:
IWCSO =CSO (I WR) (11)
5. Repeat steps 1- 4 for all the blocks.
6. The result is the watermarked image.
Applying CSO to solve the rounding problem, eight real valued parameters
representing the candidate, CAT = cat1, cat2, cat3, cat4, cat5, cat6, cat7 and cat8 (so-
lution set) are used. Real values are rounded into the integer values which are shown
in Fig. 2(a). Then, these integer values are converted into the binary format called
as translation map as shown in Fig. 2(b). This translation map is used for rounding
problem.

(a) (b)
Fig. 2. The solution set of CSO (a) Solution values (b) Obtained Translation map

The binary elements of the translation map are used in representation of translating
real numbers into integers. When I (DCT
m , n ) (i, j ) is a real number, an integer
*
I (DCT
m, n ) (i, j ) will be obtained using the rules given below:

m, n ) (i, j ) = Round (I ( m ,n ) (i, j )) + 1 , if the (i, j) th element of the translation

*
1. I (DCT DCT

map is “1”.
m, n ) (i, j ) = Round(I ( m,n ) (i, j )) , if the (i, j) th element of the translation map
*
2. I (DCT DCT

is “0”.
The function of Round I (DCT (
m, n ) (i, j ) )
denotes the nearest integer part of I ( m , n ) .
DCT

Fig.3 shows an example of novel translation method. The image in Fig. 1(e) is
translated by using the translation map shown in Fig. 2(b).

In this paper, CSO uses a Constraint function as given below:

4
C =  watermarki0 − watermarkiE = 0 (12)
i =1
Analyzing the Performance of Watermarking Based on Swarm Optimization Methods 173

Fig. 3. Watermarked image rounded by CSO

where, Watermark0 and WatermarkE are the embedded and extracted watermarks of
each block, respectively. Fitness function used by CSO is given below:
64
F =  Watermarked image blocki − Original image blocki (13)
i =1

(a) (b)

Fig. 4. (a) DCT transformed watermarked image by CSO. (b) Extracted watermark

By the constraint function, extracted watermark is obtained exactly the same as the
embedded watermark shown in Fig. 4. In addition, optimum watermarked image
transparency is also achieved.

3 Simulation Result and Discussion

Table 1. Parameter Settings (a) CSO (b) PSO with dynamic inertia and PSO

(a) (b)

The parameter settings of CSO, PSO with dynamic inertia and PSO are illustrated in
Table 1 with Dimension 8. The performance of swarm intelligence is evaluated with
the 512 x 512 original image as shown in Fig. 5(a) and 8 x 8 binary watermark image
is illustrated in Fig 5(b), watermarked image is shown in Fig. 5(c). Fig. 5(d), (e)
shows extracted watermark using simple rounding method with accuracy ratio
174 A. Lavanya and V. Natarajan

below 1, and later shows the extracted watermark by CSO based method with accura-
cy ratio 1. Input images of same sizes were considered for analysis of swarm intelli-
gence was run on MS Windows XP SP2, Intel Core 2 Duo @ 2.2 GHz with 1 GB
RAM and MATLAB 7.8. In the Table 2, maximum iteration and number of particles
are chosen as 50 and 30 respectively and the best solution is seen for C=3.5 and ω
=0.6. Table 2 shows the results obtained by PSO, PSO time-varying inertia weighting
factor and CSO. The swarm size and number of iteration required to CSO is less
compared to PSO and PSO time-varying inertia weighting factor. The Peak Signal to
Noise Ratio (PSNR) gives a general indication of image quality and a low value of
Mean Square Error (MSE) is an indicator of preservation of Information. The mea-
surement of image quality is defined PSNR which is given by the equation:
 2n −1 
PSNR = 20 log10 
( )
 dB (14)
 MSE 
where, n is the number of bits used in representing an image pixel. The MSE of the
reconstructed image is defined by:
M N

 F (i, j ) − Fˆ (i, j )
2

i =1 j =1 (15)
MSE =
M *N
where,
F (i, j ) is the original image, Fˆ (i, j ) is the reconstructed image and M*N is the
size of image.
Fig. 6 shows the convergence curve of CSO, PSO and PSO with dynamic inertia,
with the number of iteration in x-axis and mean square value in y-axis. From the Fig-
ure CSO takes 5 iterations for finding optimum value with minimum MSE (0.0066),
maximum PSNR (69.9232). PSO and PSO with dynamic inertia takes 25 with MSE
(0.0077) and 21 with MSE (0.0076) iterations respectively.Though CSO takes more
time to finish the same iteration than PSO type algorithms, it improves the perform-
ance of finding global set solutions. From the results, CSO presents a better perform-
ance than other methods.

(a) (b) (c) (d) (e)

Fig. 5. (a) Original Image (b) Watermark Image(c) Watermarked Image (d) Extracted water-
mark using simple rounding (e) Extracted watermark using CSO-based method
Analyzing the Performance of Watermarking Based on Swarm Optimization Methods 175

Table 2. Comparison of the PSO, PSO with Dynamic Inertia and CSO Based Methods

Fig. 6. The convergence curve of CSO, PSO and PSO with dynamic inertia

4 Conclusions
This study proposes CSO based method to correct rounding errors caused by conver-
sion of real numbers into integers during process of transformation of an image from
frequency domain to spatial domain. These results are superior than results proposed
by Aslantas et al.2009. Simulation result shows that the proposed CSO method extract
the watermark same as the embedded watermark. For comparative purpose, CSO is
compared with PSO and PSO time-varying inertia weight factor method. The proposed
method corrects the rounding errors by reducing the number of iteration, preserves
quality of image compared to PSO and PSO time-varying inertia weight factor method
and yields better performance in finding the best solution or near best solutions.
Acknowledgement. The support from Anna Centenary research fellowship, Anna
University, Tamilnadu in India, is gratefully acknowledged for providing research
fellowship.

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