A Digital Watermark Algorithm Suitable for OpenDrive Format High Precision Maps under Invisible Characters
The development of intelligent connected cars and autonomous driving has become an important national strategic direction of our country.As the core infrastructure of autonomous driving,high-precision maps have high commercial value,and their safety issues cannot be ignored.Based on invisible characters,this paper presents a digital watermarking algorithm for high precision maps in OpenDrive format.First,a mapping mechanism between watermark information and invisible characters is constructed,and a composite watermark character sequence containing watermark bit value,bit position information,and Hamming code is established based on the original watermark information,which ensures the synchronization of watermark bits and watermark index while providing the algorithm with a certain self-correction ability.Then,the mapped invisible characters are embedded into the high-precision map attribute values in the order of the pseudo-randomly scrambled identifier set and its attribute values,so that the watermark information is embedded into the data irregularly and distributed evenly.When detecting the watermark,the watermark bits and its corresponding position information are extracted according to the embedding sequence.The final watermark information is obtained according to the majority voting mechanism,and the error bits are corrected according to the Hamming code.Experiments show that the algorithm can fully resist the attacks of translation,rotation,and scaling while maintaining the map accuracy,and exhibits strong robustness to clipping attacks,which can be applied to the copyright protection of high precision maps in OpenDrive format.
万方数据
维普
