WO2003088146A2 - Verfahren und vorrichtung zum einbetten und extrahieren von wasserzeicheninformationen - Google Patents
Verfahren und vorrichtung zum einbetten und extrahieren von wasserzeicheninformationen Download PDFInfo
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- WO2003088146A2 WO2003088146A2 PCT/EP2003/001914 EP0301914W WO03088146A2 WO 2003088146 A2 WO2003088146 A2 WO 2003088146A2 EP 0301914 W EP0301914 W EP 0301914W WO 03088146 A2 WO03088146 A2 WO 03088146A2
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- 238000000034 method Methods 0.000 title claims description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 11
- 230000002123 temporal effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 230000000873 masking effect Effects 0.000 claims description 5
- 230000003111 delayed effect Effects 0.000 abstract description 4
- 230000005236 sound signal Effects 0.000 description 25
- 230000007480 spreading Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000006866 deterioration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 230000010363 phase shift Effects 0.000 description 4
- 230000003595 spectral effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
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- 238000012952 Resampling Methods 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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- 230000002441 reversible effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0021—Image watermarking
- G06T1/0085—Time domain based watermarking, e.g. watermarks spread over several images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0021—Image watermarking
- G06T1/005—Robust watermarking, e.g. average attack or collusion attack resistant
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2201/00—General purpose image data processing
- G06T2201/005—Image watermarking
- G06T2201/0065—Extraction of an embedded watermark; Reliable detection
Definitions
- the present invention relates to the field of watermark processing or "watermarking” and in particular to methods and devices for embedding watermark information or for extracting watermark information into an information signal which comprises audio and / or video information.
- a watermark extractor is discussed below.
- correlation peaks appear at the symbol spacing, the signs of which, i.e. whose polarity carries the watermark information.
- correlation peaks occur at regular intervals, which have different polarities, a correlation peak with negative polarity indicating a logical state "0" of the information bit, while correlation peaks with a positive one Indicate polarity to a logical state “+1” of the information bit or vice versa.
- the watermark can be embedded in various ways. Using the example of audio signals, it is known to embed the watermark in uncompressed audio signals, that is, time audio signals in the form of discrete time consecutive samples. Care is taken here that the energy of the watermark information is shaped so that it lies below the acoustic masking threshold, so that the watermark information is imperceptible. In this context, reference is made to the specialist publication “Digital Watermarking and its Influency on Audio Quality”, C. Neubauer, J. Herre, 105th AES Convention, San Francisco 1998, Preprint 4823.
- the procedure is as follows a spreading sequence is provided and is left in its original form if the information bit has a logic state "+1", or is inverted if the information bit has a logic state "0". This corresponds to a BPSK modulation.
- the spreading sequence can then in the Frequency range are transformed and weighted using the psychoacoustic masking threshold, in such a way that the spectral representation of the spreading sequence has an energy curve above the frequency that matches or is below the psychoacoustic masking threshold.
- the spectrum of watermarks weighted in this way is then converted back into a temporal representation in order to obtain a psychoacoustically weighted temporal representation of the spreading sequence.
- the psychoacoustically weighted temporal representation of the spreading sequence is then added to the discrete-time audio signal in order to obtain an audio signal with inaudible embedded watermark information.
- the audio signal can be transformed into the frequency domain and the psychoacoustically weighted spreading sequence and the audio signal present in the frequency domain can be combined in the frequency domain in order to obtain the audio signal with embedded watermark already in the frequency domain, which then, after a reverse transformation into the time domain, can be processed further.
- the audio signal is already provided with a watermark while it is being encoded, this also results in a low level of computational complexity, since the combination of watermarks embeds and encodes certain operations, e.g. the calculation of the masking model or the conversion of the audio signal into a spectral representation need only be carried out once. In this case, too, high audio quality can be ensured, since the quantization noise and the watermark noise can be matched exactly to one another. Here, too, there is a high level of robustness since the audio signal is not weakened by a subsequent encoder. Finally, here too, a suitable choice of the spreading band parameters allows compatibility with the PCM watermarking method. In this context, reference is made to the specialist publication "Combined Compression-Water arking for Audio Signals", F. Siebenhaar, C. Neubauer, J. Herre 110th AES Convention, Amsterdam, Preprint 5344.
- a disadvantage of these different methods is the fact that they only allow a relatively low data rate, which, for. B. is sufficient for simple copyright information, which, however, if e.g. away from the classic watermarking application for author information, can quickly become too small.
- the data rate is sometimes too low, especially when a very high level of robustness is to be achieved.
- an audio signal is transformed into the frequency range by means of a discrete Fourier transformation.
- a random sequence is used for the watermark embedding, which is shifted depending on useful information, which is also referred to as payload.
- the cyclically shifted version of this sequence is used to implement a multi-bit payload with a special random sequence. Every possible shift can be assigned to a payload.
- the random sequence shifted depending on the payload is weighted in the frequency domain and then transformed into the time domain in order to obtain a time domain representation of the shifted random sequence.
- the watermark display present in the time domain is then further processed in the time domain in order to finally be added to the audio signal in order to obtain an audio signal with watermark in the time domain.
- a section of the audio signal is segmented into frames and transformed into the frequency range. Each frame is transformed into the frequency domain and subjected to spectral shaping for preprocessing before extraction. This procedure is carried out with a large number of segments, the large number of segments being accumulated by spectral value.
- the contents of the accumulator are then subjected to a cross-correlation with every possible shifted version of the random sequence, with a certain shift resulting in a correlation peak, the height of which is a measure of the detection reliability, and the shift of which includes the useful data information at a zero point in time.
- the problem with the described method is the fact that the zero point in time from which the displacement is determined is generally not a priori is known. If, for example, the watermark extraction is started at some point within the audio signal, it would be pure coincidence if the segmentation grid were hit exactly. In addition, watermarks must be robust to attackers who manipulate the audio signal with embedded watermarks, either to change the copy information in their sense, or to illegally remove the watermark. If a watermark extractor is no longer able to determine the zero point in time from which the displacement is calculated, ie if the extractor loses synchronization, it is no longer in due to the inherent properties of pulse-phase modulation able to extract watermark information without errors.
- the object of the present invention is to create a robust watermark concept which at the same time enables a high data rate.
- a device for embedding watermark information according to claim 14 a device for extracting watermark information according to claim 15, a method for extracting watermark information according to claim 22 or a computer program according to claim 23 or 24.
- the present invention is based on the knowledge that a robust watermark concept, which at the same time allows a high data rate, is obtained if the watermark information is encoded in accordance with the pulse-phase modulation in the time interval between a data sequence correlation peak and a zero time, however, an additional synchronization frequency correlation peak which indicates the “zero time” is also caused for each data sequence correlation peak, so that the decoder for a data sequence correlation peak also has an associated synchronization sequence. Extracted frequency correlation peak.
- the synchronization information in the form of the synchronization sequence correlation peak is thus also continuously embedded in the information signal, such that a watermark extractor supplies the synchronization information, ie the zero time, for each data sequence correlation peak, so that this zero time does not have to be provided externally or through complicated agreements between a watermark embedder and a watermark extractor.
- Such external agreements are a point of attack, in particular for attempts at unauthorized modification of the watermark, which are eliminated by the inventive concept. This results in a robust watermark concept, which also enables the advantages of the high data rate that pulse phase modulation brings with it.
- An advantage of the present invention is that the watermark concept according to the invention enables the data rate to be multiplied by a factor N compared to BPSK modulation, which depends on the maximum time shift to be generated between a data sequence and a synchronization frequency.
- Another advantage of the present invention is that there is backward compatibility with standard BPSK watermark embedding, since the synchronization sequence correlation peak corresponds to the usual BPSK correlation peaks and also with regard to their polarity can be modulated to carry additional information.
- Another advantage of the present invention is that no change in the psychoacoustic parameters for weighting the pseudo random sequence is required.
- the concept according to the invention has the advantage that it is independent of whether the combination of the weighted watermark signal and the information signal, that is to say the combination of watermark and information signal, takes place in the time domain or in the frequency domain.
- the concept according to the invention also opens up the possibility of increasing the watermark data rate by adding further data signals.
- a synchronization sequence correlation peak can be used in the watermark extractor to provide not only synchronization information for one data sequence correlation peak but for several data sequence correlation peaks.
- the synchronization sequence is identical to the data sequence, so that only one correlator is required in the watermark extractor.
- the synchronization sequence and the data sequence differ, which has the advantage that the distinction between a synchronization sequence correlation peak and a data sequence correlation peak is easier in the watermark extractor, since it is already known a priori from which correlator one Data sequence correlation peak or a synchronization sequence correlation peak is supplied.
- the temporal rasterization for coding the information about the temporal shift between the two sequences or correlation peaks is made larger than a chip, as a result of which a robustness with respect to temporal change in the audio signal is increased, for example by a sampling rate conversion.
- the correlation peaks due to the synchronization sequence and / or the data sequence can also be BPSK-modulated. This results in backward compatibility with classic BPSK modulation, and the data rate is increased by a further two data channels with a data rate - albeit low - of one bit per sequence.
- a frame synchronization is necessary in such a way that it can be determined in the watermark extractor which groups of synchronization sequence correlation peak and data sequence correlation peak belong together to one to result in such a long data word.
- the ratio between the performance of a data sequence correlation peak and a synchronization correlation peak is not chosen equal to 1, but is shifted in the direction of the synchronization sequence correlation peak or the data sequence correlation peak, depending on the application, which is achieved as a result can that before combining the synchronization sequence the data sequence is used to weight at least one of the two sequences with a factor not equal to 1. This means that there is the possibility of adapting the energy ratio between synchronization energy and data energy to different robustness requirements, or to set a prioritization of the two layers (data layer and synchronization layer) with regard to robustness.
- FIG. 1 shows a basic block diagram of a device according to the invention for embedding watermark information in an information signal
- FIG. 2 shows a basic block diagram of a device according to the invention for extracting watermark information from an information signal
- FIG. 3 is an illustration for explaining the functioning of the device for generating a time shift and the combination device from FIG. 1;
- FIG. 4 shows a temporal representation of correlation peaks on the watermark extractor to explain the functioning of the watermark extractor from FIG. 2;
- FIG. 5 shows a block diagram for explaining various options for preparing a useful data bit stream in order to obtain the watermark information to be embedded in the information signal.
- FIG. 1 shows a basic block diagram of a device according to the invention for embedding watermark information onen in an information signal that includes audio and / or video information.
- a device is provided for providing a synchronization sequence 10 with a plurality of synchronization sequence units and a data sequence 12 with a plurality of data sequence units, the synchronization sequence and the data sequence being provided using a device 14 for generating a time shift such that There is a time shift greater than or equal to zero between the data sequence and the synchronization sequence, a degree of this time shift depending on watermark information 16 to be embedded.
- a temporal “shift” from zero can also be used for coding a zero, for example.
- a downstream combination device 18 is provided in order to achieve a combination sequence with a plurality of combination sequence units from the synchronization sequence and the data sequence shifted with respect to the synchronization sequence, which data are supplied at the output of the device 14 via output lines 15a and 15b, with combination sequence units from synchronization sequence units and shifted data sequence units are derived.
- a device 20 is provided for merging the combination sequence present on an output line 19 and the information signal, which is provided via an input 21, in order to deliver the information signal with an embedded watermark at an output 23, which is emitted by one in FIG watermark extractor shown is to be processed.
- the watermark extractor shown in FIG. 2 comprises a device 30 for processing the information signal in which the watermark information is embedded, for example the information signal obtained at the output 23 of FIG. 1 using the synchronization Sequence 10 from FIG. 1 and using the data sequence 12 from FIG. 1.
- the device 30 for processing supplies on the output side a synchronization sequence correlation peak and a data sequence correlation peak, the data sequence correlation peak being shifted by a time shift with respect to the synchronization sequence correlation peak , A device 32 for interpreting this time shift is provided in order to recover the watermark information at an output 33 of the watermark extractor.
- FIG. 3 shows a synchronization sequence 10 with synchronization sequence units S1, S2, S3, S4, S5, S6 ...
- a data sequence 12 with data sequence units D1, D2, D3, ... is shown.
- the device 14 for generating a time shift from FIG. 1 was already effective in order to generate a time shift 40 between the synchronization sequence 10 and the data sequence 12, which in the example shown in FIG. 3 had three so-called chips, that is to say units of the two sequences , is. It can be seen from a time axis 42 of FIG.
- the synchronization sequence with regard to the data sequence could also have been delayed, as long as it is ensured in the watermark extractor that the association between a synchronization sequence and one (or more) data sequences has been clarified.
- FIG. 3 also shows a combination sequence with combination sequence units K1, K2, K3, K4, K5, K6, ...
- the combination sequence units are obtained by adding units of the syn Chronization sequence 10 and the data sequence 12.
- the first three combination sequence units K1, K2, K3 are identical to the first three synchronization sequence units, as is known from one Line 46 can be seen below the combination sequence 44 in FIG. 3.
- the combination sequence unit K4 now corresponds to z. B. the addition of the synchronization sequence unit S4 and the data sequence unit Dl.
- the combination sequence unit K5 is determined, which in turn corresponds to the addition of the synchronization sequence unit S5 and the data sequence unit D2.
- the procedure for calculating the combination sequence unit K6 is similar.
- the length of the combination sequence could deviate from the length of the synchronization sequence if the last (in this example three) data sequence units were added to the end of the combination sequence 44 shown in FIG. 3.
- the maximum time shift 40 to be used for coding useful information watermark information.
- the maximum distance M of an offset between two sequences determines the number of bits transmitted simultaneously per watermark information symbol and results from the formation the dual logarithm of the maximum distance between two peaks in chips. If, for example, a word length of 8 bits is selected, a maximum time shift must correspond to 40 256 chips.
- the combination device 18 of FIG. 1 in this example only works by simply adding the corresponding chips which occur at the same time.
- this combination need not be in a 1: 1 ratio.
- the synchronization sequence unit to be combined and / or the data sequence unit to be combined is subjected to a factor not equal to 1, so that in the combination sequence either the data sequence or the synchronization sequence with respect to the other "Partner" is preferred.
- the synchronization sequence units preference can be given to the synchronization sequence units for applications in which particularly high robustness, that is to say particularly high reliability of the synchronization information is required, so that the energy typically available for the watermark is more distributed in favor of the synchronization sequence.
- particularly high robustness that is to say particularly high reliability of the synchronization information is required
- the energy typically available for the watermark is more distributed in favor of the synchronization sequence.
- this means that the data and synchronization peaks are "sent” with different energies, the energy ratio between the "synchronization energy” and the "data energy” being flexibly adaptable to robustness requirements.
- This also makes it possible to prioritize the layers (data layers and Synchronization layer) with regard to robustness.
- Increasing the data rate by a factor of N can also be used to not fully utilize the data rate increase for user data, but instead to increase the user data rate only by N / 2 and to carry out the other N / 2 bits for redundancy coding in the sense of a forward error correction.
- Fig. 5 A useful data bit stream is fed into a useful data processing device 50.
- the device 50 carries out a serial / parallel conversion of the useful data bit stream into a watermark information symbol. For the 8-bit example described above, this would mean that eight consecutive
- the relevant user data bits are converted in parallel to produce a binary number, the value of which corresponds to a specific time shift 40 from FIG. 3.
- This particular value of the temporal shift then represents the watermark information which is achieved by means of the watermark embedding device from FIG. 1, which is denoted by 52 in FIG. 5, in order to create an information signal including the embedded watermark using the information signal.
- a redundancy coding is carried out in the device 50 in order to achieve a forward error correction, then, for example, only four successive bits of the useful data bit stream are combined and coded with a redundancy code of the code rate 1/2 in order to obtain a redundant watermark information symbol which also has eight bits and represents a number to which a specific time shift 40 of FIG. 3 is assigned.
- a decoding method corresponding to this redundancy code can be used in a watermark extractor, e.g. a Viterbi method known in communications technology or another method based on probabilities.
- FIG. 4 shows a sequence of three frames in time, each frame being assigned a synchronization correlation peak 60a, 60b, 60c in the example shown in FIG. 4, and each frame additionally having a data sequence correlation peak 62a, 62b and 62c includes.
- the processing device 30 of the watermark extractor will output the synchronization correlation peak 60a at a specific time t1 and output the data sequence correlation peak 62a at a specific time t2, which is later than the time tl.
- the transmitted useful data information is in the time difference AI between the time t2 and the tl.
- the synchronization information of the synchronization correlation peak 60a is thus supplied for each frame in the concept according to the invention, so that there are no external synchronization agreements or the like which represent points of attack and which would additionally impair the flexibility of the entire watermark concept.
- the watermark extractor will determine for frame 2 that the transmitted useful information is different, since the time interval A2 between the synchronization correlation peak 60b and the data sequence correlation peak 62b is different than in frame 1. The same applies to frame 3.
- the synchronization sequence 10 from FIG. 1 can be identical to the data sequence 12 from FIG. 1 or preferably orthogonal to it.
- a watermark extractor which starts the watermark extraction at an unknown point in time, for example, does not know which correlation peak is a synchronization sequence correlation peak or a data sequence correlation peak.
- the watermark extractor proceeds according to the invention in such a way that it decorrelates several frames, such as the three frames shown in FIG. 4, in order to obtain the pattern of correlation peaks shown in FIG. 4.
- the watermark extractor determines whether there is a fixed grid spacing, ie the frame length, between correlation peaks spaced apart in time.
- the correlator will determine that there is an equal distance between the correlation peaks 60a, 60b and 60c, while this cannot be said for the data sequence correlation peaks in general since the same is unlikely to be the same in multiple frames Data information is transmitted.
- the synchronization sequence correlation peaks can be modulated in terms of their polarity in accordance with the usual BPSK modulation. This can be used to ensure that, by convention, all synchronization correlation peaks have a negative polarity, while all data sequence correlation peaks have a positive polarity.
- a watermark extractor does not have to perform the raster detection algorithm described above, but can only tell from the polarity of a single peak whether it is a synchronization sequence correlation peak or a data sequence correlation peak.
- these words can easily be divided into three successive watermark information symbols, each with eight bits, and for example in the three frames shown in Fig. 4 are successively transmitted.
- the watermark correlator is faced with the task of recognizing which three successive frames belong together and together form the 24-bit data word. This information, so to speak the "user data synchronization" can if easily achieved by means of the polarity, for example the synchronization sequence correlation peak.
- the first synchronization sequence correlation peak of a sequence of three frames which together form a slot data information word, could have a polarity that differs from the other two frames.
- more complex and secure synchronization sequence peak modulation concepts can also be used, which not only include the frames that belong to one information word, but that extend over several successive information words.
- the coding grid ie the assignment of a time shift to a watermark information symbol, in a grid with the smallest possible grid spacing, ie a sequence unit or a chip, but to use a larger coding grid which comprises, for example, two, three or more chips.
- this reduces the data rate by half if, for example, a 2-chip raster is used, or even thirds the data rate if a 3-chip raster is used.
- due to the high data rate gain through the pulse-phase modulation according to the invention with additional synchronization peak transmission such data rate losses are often acceptable in the sense of better robustness.
- the concept according to the invention is very flexible in that robustness, on the one hand, and data rate, on the other hand, can be coordinated with one another and can be individually optimally adapted for each special application.
- the watermark embedding method according to the invention or the watermark extraction method according to the invention can be implemented in hardware or in software.
- the implementation can be carried out on a digital storage medium, in particular a floppy disk or CD, with control signals which can be read out electronically and which can interact with a programmable computer system such that the corresponding method is carried out.
- the invention thus also consists in a computer program product with program code stored on a machine-readable carrier for carrying out the method according to the invention when the computer program product runs on a computer.
- the invention can thus be implemented as a computer program with a program code for carrying out the method if the computer program runs on a computer.
Abstract
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003208763A AU2003208763A1 (en) | 2002-04-12 | 2003-02-25 | Method and device for embedding and extracting watermark information |
EP03706575A EP1495445B1 (de) | 2002-04-12 | 2003-02-25 | Verfahren und vorrichtung zum einbetten und extrahieren von wasserzeicheninformationen |
DE50303370T DE50303370D1 (de) | 2002-04-12 | 2003-02-25 | Verfahren und vorrichtung zum einbetten und extrahieren von wasserzeicheninformationen |
US10/502,622 US7886152B2 (en) | 2002-04-12 | 2004-07-22 | Method and device for embedding watermark information and method and device for extracting embedded watermark information |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE10216261.1 | 2002-04-12 | ||
DE10216261A DE10216261A1 (de) | 2002-04-12 | 2002-04-12 | Verfahren und Vorrichtung zum Einbetten von Wasserzeicheninformationen und Verfahren und Vorrichtung zum Extrahieren von eingebetteten Wasserzeicheninformationen |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US10/502,622 Continuation US7886152B2 (en) | 2002-04-12 | 2004-07-22 | Method and device for embedding watermark information and method and device for extracting embedded watermark information |
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WO2003088146A2 true WO2003088146A2 (de) | 2003-10-23 |
WO2003088146A3 WO2003088146A3 (de) | 2003-12-31 |
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PCT/EP2003/001914 WO2003088146A2 (de) | 2002-04-12 | 2003-02-25 | Verfahren und vorrichtung zum einbetten und extrahieren von wasserzeicheninformationen |
Country Status (6)
Country | Link |
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US (1) | US7886152B2 (de) |
EP (1) | EP1495445B1 (de) |
AT (1) | ATE326736T1 (de) |
AU (1) | AU2003208763A1 (de) |
DE (2) | DE10216261A1 (de) |
WO (1) | WO2003088146A2 (de) |
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CN112788342B (zh) * | 2019-11-11 | 2022-07-08 | 阿里巴巴集团控股有限公司 | 一种水印信息嵌入方法以及装置 |
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JP2000217088A (ja) | 1998-11-18 | 2000-08-04 | Nippon Television Network Corp | デ―タ重畳方法、デ―タ伝送方法及びそのシステム |
JP2000207828A (ja) | 1999-01-07 | 2000-07-28 | Sony Corp | 信号処理装置とその方法、信号記録装置、信号再生装置および信号記録媒体 |
CN1129114C (zh) | 1999-03-19 | 2003-11-26 | 索尼公司 | 附加信息嵌入方法和设备,以及附加信息解调方法和设备 |
US6785401B2 (en) * | 2001-04-09 | 2004-08-31 | Tektronix, Inc. | Temporal synchronization of video watermark decoding |
JP3576993B2 (ja) * | 2001-04-24 | 2004-10-13 | 株式会社東芝 | 電子透かし埋め込み方法及び装置 |
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2003
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JP2002044408A (ja) * | 2000-06-29 | 2002-02-08 | Internatl Business Mach Corp <Ibm> | 電子透かし方法およびそのシステム |
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US20050105726A1 (en) | 2005-05-19 |
ATE326736T1 (de) | 2006-06-15 |
AU2003208763A8 (en) | 2003-10-27 |
WO2003088146A3 (de) | 2003-12-31 |
EP1495445B1 (de) | 2006-05-17 |
EP1495445A2 (de) | 2005-01-12 |
US7886152B2 (en) | 2011-02-08 |
AU2003208763A1 (en) | 2003-10-27 |
DE50303370D1 (de) | 2006-06-22 |
DE10216261A1 (de) | 2003-11-06 |
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