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A Novel Fragile Zero Watermarking Method for Networked Inverted Pendulum Visual Servo Systems

Fragile watermarking can cause lower image quality and zero watermarking usually fails to detect image attacks. To solve these problems, this paper proposes a novel fragile zero watermarking (FZW) method by fusing fragile watermarking and zero watermarking. The FZW method mainly includes two parts: (1) To guarantee high image quality, two least significant bits of pixel values of before-transmission and after-transmission images are extracted as image features, which are then embedded into the constructed binary original watermarking by XOR operation to generate the register watermarking and reconstructed watermarking; (2) To detect image attacks, the register watermarking and reconstructed watermarking are compared by bit-wise, and if they are same, it means that there is no attack, otherwise attacks occur. Real-time control experiments on networked inverted pendulum visual servo system platform confirm the feasibility and effectiveness of the proposed method.