An Extended DCT Domain Watermarking for Robot Vision against Geometric Image Attacks

Table 1

Comparison with previous studies.

Content	Method 1A [9]	Method 1B [9]	Proposed method
Perceptual invisibility	O	O	O
Robustness	Normal	Normal	High
Clarity	High	High	High
Security	High	High	High
Extraction without original copy	O	O	O
Number of inserted watermark	1	2	16
Inverse transform	X	X	O
Speed	Fast	Fast	Slow