Camera image security verification method and system, and electronic device

Abstract

The invention provides a safety verification method and system for a camera image and electronic equipment, and belongs to the technical field of image data processing, and the method comprises the following steps executed by an image sensor chip: responding to a frame synchronization signal, and synchronously triggering to collect original image data and environment parameters of a current frame; obtaining a pre-stored sensor chip identifier, and generating a dynamic watermark according to the environment parameter of the current frame and the sensor chip identifier and a preset rule; embedding the dynamic watermark into the original image data to obtain an image with a watermark; and outputting the image with the watermark and the environment parameters of the current frame to a rear-end image processing module. According to the invention, the reliability of verifying the authenticity and integrity of the camera image is improved.

Description

Technical Field

[0001] This invention relates to the field of image data processing technology, and specifically to a security verification method, system, and electronic device for camera images. Background Technology

[0002] With the rapid development of intelligent connected vehicles and autonomous driving technologies, vehicle-mounted cameras have become one of the core sensors for environmental perception, widely used in driver assistance functions such as lane keeping, obstacle recognition, and automatic parking. Road image data collected by the cameras is directly input to the image signal processor and perception algorithm module for real-time environmental modeling and driving decision-making.

[0003] Currently, to ensure the credibility of image data, some technical solutions employ digital watermarking to identify images. For example, after image acquisition, an image signal processor or other external processing unit adds watermark information to the image data for subsequent image source tracing or integrity verification. However, in such solutions, the watermarking module is independent of the image sensor settings, resulting in an unprotected window of blank space before the image data is transmitted to the watermarking module. Furthermore, existing watermark generation methods are mostly based on fixed keys or random numbers, lacking correlation with the physical state of the image acquisition process, making the watermark easily predictable or forged.

[0004] Therefore, how to prevent data tampering at the source of image acquisition and establish a strong correlation between the image and the acquisition environment to improve the reliability of image security verification remains a technical problem to be solved in the field of vehicle image processing. Summary of the Invention

[0005] In view of this, it is necessary to provide a secure verification method, system and electronic device for camera images to solve the technical problem that the image watermark is added outside the sensor and the generation rules are independent of the acquisition environment in the existing methods, which leads to insufficient accuracy of image verification.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a security verification method for camera images, comprising the following steps performed by an image sensor chip: In response to the frame synchronization signal, the acquisition of raw image data and environmental parameters of the current frame is triggered synchronously. Obtain the pre-stored sensor chip identifier, and generate a dynamic watermark according to preset rules based on the environmental parameters of the current frame and the sensor chip identifier; The dynamic watermark is embedded into the original image data to obtain a watermarked image; The watermarked image and the environmental parameters of the current frame are output to the backend image processing module.

[0007] In one possible implementation, the environmental parameters include light intensity and / or temperature.

[0008] In one possible implementation, after the synchronous trigger acquisition of the original image data and the environmental parameters of the current frame, and before embedding the dynamic watermark into the original image data to obtain a watermarked image, the security verification method for the camera image includes: The environmental parameters of the current frame are temporarily latched into the parameter latch unit. After the current frame image data processing is completed, the environmental parameters stored in the parameter latch unit are refreshed to clear the environmental parameters of the current frame.

[0009] In one possible implementation, generating a dynamic watermark according to preset rules based on the environmental parameters of the current frame and the sensor chip identifier includes: The parameter values ​​of the environmental parameters of the current frame are concatenated with the sensor chip identifier to form a basic watermark string; Based on the environmental parameters and / or sensor chip identifier, a verification code is generated using an encryption algorithm; The verification code is added to the basic watermark string to obtain the dynamic watermark.

[0010] In one possible implementation, embedding the dynamic watermark into the original image data to obtain a watermarked image includes: Convert the dynamic watermark into a binary data stream; Generate a pixel region in the original image data for embedding a watermark, wherein the pixel region is a continuous edge pixel within a predetermined range of the image boundary; According to the preset pixel traversal order, the binary data stream is written into the least significant bit of each pixel in the pixel region in sequence, with each pixel carrying a predetermined number of binary bits.

[0011] In one possible implementation, outputting the watermarked image and the environmental parameters of the current frame to the backend image processing module includes: The watermarked image is output via the MIPI channel; The environmental parameters of the current frame are output via the I2C or SPI channel; The MIPI channel and the I2C channel are time-bound using a frame synchronization signal, or the MIPI channel and the SPI channel are time-bound to ensure that the output watermarked image and the environmental parameters belong to the same frame.

[0012] On the other hand, the present invention also provides a security verification method for camera images, characterized by including the following steps performed by a backend image processing module: Receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; Extract watermark information from the received watermarked image; Based on the received environmental parameters and the same preset rules used to generate the dynamic watermark, a verification watermark is regenerated. The extracted watermark information is compared with the verification watermark, and the authenticity and integrity of the watermarked image are determined based on the comparison result.

[0013] In one possible implementation, after determining the authenticity and integrity of the watermarked image based on the comparison result, the following steps are included: If the comparison results are inconsistent, an image untrusted indication is generated; Based on the image being deemed untrustworthy, subsequent processing and control decisions based on the watermarked image are terminated.

[0014] Thirdly, the present invention also provides a security verification system for camera images, including a camera image sensor chip and a back-end image processing module; The camera image sensor chip includes: The image acquisition unit is used to acquire raw image data when triggered by the frame synchronization signal; The environmental data acquisition unit is used to acquire environmental parameters of the current frame under the synchronous triggering of the frame synchronization signal; A parameter latching unit, connected to the environmental data acquisition unit, is used to temporarily store the environmental parameters of the current frame; The watermarking unit, connected to the image acquisition unit and the parameter latching unit, is used to acquire the pre-stored sensor chip identifier, generate a dynamic watermark based on the environmental parameters and the sensor chip identifier, embed the dynamic watermark into the original image data, and output a watermarked image. The backend image processing module includes: The receiving unit is used to receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; The watermark verification unit is used to extract watermark information from the received watermarked image, regenerate the verification watermark according to the received environmental parameters and the same preset rules as those used to generate the dynamic watermark, compare the extracted watermark information with the verification watermark, and output the verification result. The decision-making unit decides whether to use the watermarked image based on the verification results.

[0015] Fourthly, the present invention also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the security verification method for camera images described in any of the above implementations.

[0016] The beneficial effects of this invention are as follows: The secure verification method for camera images provided by this invention, through the image sensor chip responding to the frame synchronization signal, synchronously triggers the acquisition of original image data and corresponding environmental parameters. This synchronization triggering mechanism ensures that each frame of image strictly corresponds to the environmental parameters at the moment of acquisition, establishing a strong correlation between the image and the environment from the source, providing a reliable basis for subsequent verification; and generates a dynamic watermark based on the environmental parameters and a pre-stored chip identifier, completing the watermark embedding before the image data is output to the outside of the chip. The watermark generation integrates dynamically changing environmental parameters and an immutable chip identifier, effectively improving the complexity and anti-counterfeiting capability of the watermark. At the same time, the watermark is embedded inside the chip, avoiding the risk of image data being tampered with before being transmitted to external modules. This achieves the binding of image data and the acquisition environment from the source without changing the original purpose of the image data, effectively improving the reliability of image authenticity and integrity verification. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of an embodiment of the security verification method for camera images provided by the present invention; Figure 2 A schematic flowchart of another embodiment of the security verification method for camera images provided by the present invention; Figure 3 For the present invention Figure 1 A schematic diagram of an embodiment of S102; Figure 4 For the present invention Figure 1 A schematic diagram of an embodiment of S103; Figure 5 For the present invention Figure 1 A schematic diagram of an embodiment of S104; Figure 6 A schematic flowchart of another embodiment of the security verification method for camera images provided by the present invention; Figure 7 A schematic flowchart of another embodiment of the security verification method for camera images provided by the present invention; Figure 8 A schematic diagram of an embodiment of the security verification system for camera images provided by the present invention; Figure 9 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] This invention provides a secure verification method, system, electronic device, and storage medium for camera images. The technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] Figure 1A schematic flowchart of an embodiment of the security verification method for camera images provided by the present invention is shown below. Figure 1 As shown, the security verification method for camera images includes the following steps performed by the image sensor chip: S101, In response to the frame synchronization signal, synchronously trigger the acquisition of raw image data and environmental parameters of the current frame; S102. Obtain the pre-stored sensor chip identifier, and generate a dynamic watermark according to the environmental parameters of the current frame and the sensor chip identifier, following preset rules. S103. Embed the dynamic watermark into the original image data to obtain a watermarked image; S104. Output the watermarked image and the environmental parameters of the current frame to the backend image processing module.

[0025] In automotive camera applications, image sensor chips need to meet requirements such as high dynamic range, low-light performance, and temperature stability. The chip package is typically a ceramic substrate or organic substrate, with a light-transmitting cover to protect the photosensitive area. The chip, along with the lens module and image signal processor, constitutes a complete camera module, installed in locations such as the vehicle's front-view, surround-view, or cabin interior, to acquire image data of the road environment or passenger status.

[0026] In this embodiment, the image sensor chip serves as the source of image data, and its output raw image data directly determines the input quality of subsequent image processing and perception algorithms. Therefore, introducing a security mechanism at the chip level can establish protection from the very beginning of data generation, avoiding the risk of image data being tampered with during subsequent transmission and processing. Based on the existing image sensor chip architecture, this embodiment integrates an environmental data acquisition unit and a watermarking unit. By coordinating the operation of each module through a frame synchronization signal, watermark embedding is completed before the image data leaves the chip, thereby improving the security and reliability of the image data.

[0027] Specifically, while acquiring image data, the image sensor chip simultaneously collects environmental parameters of the current frame and generates a dynamic watermark based on the environmental parameters and the chip's own identifier. The watermark is embedded before the image data is output to the outside of the chip, and finally the watermarked image and the corresponding environmental parameters are sent to the back-end image processing module.

[0028] The frame synchronization signal is a reference signal used within the image sensor chip to control the timing of image acquisition. It typically includes a vertical synchronization signal (VSYNC) and a horizontal synchronization signal (HSYNC). The image sensor chip integrates an image acquisition unit and an environmental data acquisition unit, both of which start working simultaneously when triggered by the frame synchronization signal.

[0029] As an example, when the frame synchronization signal is triggered by the rising edge, the image acquisition unit begins exposure and reads pixel array data, while the environmental data acquisition unit reads the current values ​​from the light intensity sensor and temperature sensor. This synchronization triggering method ensures that the acquired environmental parameters strictly correspond to the original image data in time; that is, the environmental parameters reflect the physical environment state at the moment of exposure of that frame. For example, at a frame rate of 30 frames per second, the exposure period of each frame is approximately 33.3 milliseconds. The environmental data acquisition unit completes one light intensity and temperature sampling within this period, and the sampling time basically coincides with the center moment of image exposure.

[0030] The sensor chip identifier is a unique identification code embedded within the image sensor chip at the factory. It is stored in a one-time programmable memory or generated by a physically non-clonable function circuit. This identifier is immutable and chip-specific; different chips have different identifier values.

[0031] When generating a dynamic watermark, the watermarking unit inside the image sensor chip reads the environmental parameter values ​​of the current frame from the parameter latching module, and at the same time reads the sensor chip identifier from the memory, combining the two according to preset rules to form a dynamic watermark.

[0032] The preset rules can be implemented using various methods such as string concatenation, hash calculation, or encryption transformation. As an example, the preset rule concatenates the light intensity value, temperature value, and the last eight digits of the chip identifier to form a string in the format "light intensity value-temperature value-chip identifier." Then, a cyclic redundancy check is performed on this string, and the checksum is appended to the end of the string to obtain the final watermark content. In this example, the dynamic changes in environmental parameters make the watermark content different for each frame, while the introduction of the chip identifier binds the watermark to specific camera hardware.

[0033] The watermark embedding step is completed in the digital back-end circuitry of the image sensor chip, specifically executed by the watermarking unit. After analog-to-digital conversion, the raw image data is transmitted to the watermarking unit in digital image format. At this point, the image data has not yet left the chip's internal bus. The watermarking unit embeds the generated dynamic watermark into the image in a spatial domain manner, that is, writes the watermark information into the least significant bit of the pixel value in the image data. Since the modification of the least significant bit has a negligible impact on the pixel value, the difference before and after embedding is imperceptible to the human eye and does not affect subsequent image signal processing and perception algorithms' recognition of the image content. After the embedding operation is complete, the watermarked image is ready to be output to the outside of the chip.

[0034] In the output step, the watermarked image is sent to the back-end image processing module through the physical interface of the image sensor chip, while the environmental parameters of the current frame are also sent synchronously through another interface. As an example, the watermarked image is transmitted via the Mobile Industry Processor Interface (MIPI), and the environmental parameters are transmitted via the Integrated Circuit Bus (I2C) or the Serial Peripheral Interface (SPI). To ensure that the back-end module can correctly match the image and environmental parameters, the output timing is controlled by a frame synchronization signal. That is, when each frame of image is output, its corresponding environmental parameters are transmitted within the same frame period, thereby achieving frame-level synchronization of the image and parameters.

[0035] In this embodiment, the synchronous acquisition of images and environmental parameters is triggered by a frame synchronization signal, ensuring a strict spatiotemporal correspondence between each image frame and its acquired environmental parameters. Watermark generation and embedding are performed internally within the chip, preventing potential tampering of image data during transmission to external modules. The dynamic watermark integrates real-time changing environmental parameters and the chip's unique identifier, making the watermark content difficult to predict and forge. The watermarked image and environmental parameters are synchronously output to the backend, providing a data foundation for subsequent verification of image authenticity and integrity. The method provided in this embodiment establishes a data anti-tampering mechanism from the image acquisition source, improving the security and reliability of image data without increasing additional hardware costs.

[0036] In some embodiments of the present invention, environmental parameters include light intensity and / or temperature.

[0037] In some embodiments of the present invention, such as Figure 2 As shown, after synchronously triggering the acquisition of raw image data and environmental parameters of the current frame, and before embedding a dynamic watermark into the raw image data to obtain a watermarked image, the security verification method for camera images includes: S201. Store the environmental parameters of the current frame being collected into the parameter latch unit for temporary latching; S202. After the current frame image data processing is completed, refresh the environmental parameters stored in the parameter latch unit to clear the environmental parameters of the current frame.

[0038] After synchronously triggering the acquisition of raw image data and environmental parameters of the current frame, and before embedding the dynamic watermark into the raw image data, the method also includes a step of temporarily latching and refreshing the environmental parameters.

[0039] Specifically, the image sensor chip has a parameter latching unit inside, which is connected to the environmental data acquisition unit and is used to temporarily store the environmental parameters acquired in the current frame.

[0040] Once the environmental data acquisition unit completes the sampling of light intensity and / or temperature, the sampled values ​​are immediately written into the parameter latch unit for use by the subsequent watermarking unit when generating a dynamic watermark.

[0041] After the complete image data processing flow of the current frame is completed, the environmental parameters stored in the parameter latch unit are cleared or overwritten in order to provide storage space for the environmental parameters of the next frame image.

[0042] The parameter latch unit is a digital circuit module, typically composed of register banks or static random access memory (SRAM) cells, capable of maintaining stable data output under clock signal control. The write operation of this unit is controlled by the frame synchronization signal or a derivative signal of the frame synchronization signal, ensuring that the environmental parameters of each frame are latched only within the valid time of the corresponding frame. As an example, at a frame rate of 30 frames per second, the processing cycle for each frame is approximately 33.3 milliseconds. The environmental data acquisition unit completes sampling in the first clock cycle after the frame synchronization signal is triggered, and the sampling result is written to the parameter latch unit in the next clock cycle. Thereafter, this value remains stable in the latch unit until all image processing operations (including watermark generation and embedding) for the current frame are completed. When the frame synchronization signal for the next frame arrives, the parameter latch unit automatically clears to zero or allows new data to be written, overwriting the old environmental parameters with the new data.

[0043] This temporary latching and refresh mechanism ensures that the environmental parameters accessed for each image frame are strictly unique within the frame. Because the environmental parameters and image data correspond precisely in time, watermark misalignment issues caused by delayed or premature parameter updates are avoided.

[0044] For example, without a latching mechanism, the watermarking unit might read environmental parameters from the next frame during the processing of the current frame, causing the generated watermark to mismatch with the current frame image. Alternatively, if the parameters are updated midway through frame processing, the environmental parameters read in different steps within the same frame may be inconsistent, affecting the consistency of watermark generation.

[0045] In this embodiment, the environmental parameters and image frames are synchronously bound through temporary storage in the parameter latch unit and automatic refresh after the frame ends. This method solves the problem of cross-frame data mixing with a simple circuit structure, without the need for complex timing control logic. Integrating this unit inside the image sensor chip does not change the chip's external interface or system architecture, and has good compatibility. The parameter latching and refresh mechanism provides a data foundation for the accurate generation of subsequent dynamic watermarks, ensuring that the watermark content embedded in each frame strictly corresponds to the environmental state at the time of acquisition, thereby improving the reliability of the watermark as an identifier of image authenticity. At the same time, this mechanism avoids misjudgments caused by parameter mismatch, enabling the backend verification module to verify the image based on accurate environmental parameters, reducing the probability of verification errors.

[0046] In some embodiments of the present invention, such as Figure 3As shown, step S102 generates a dynamic watermark according to preset rules based on the environmental parameters and sensor chip identifier of the current frame, including: S301. Concatenate the environmental parameter values ​​of the current frame with the sensor chip identifier to form a basic watermark string; S302. Generate a verification code using an encryption algorithm based on environmental parameters and / or sensor chip identification. S303. Add the verification code to the basic watermark string to obtain the dynamic watermark.

[0047] In one specific implementation, a dynamic watermark is generated based on the environmental parameters of the current frame and the sensor chip identifier, including three steps: constructing a basic watermark string, generating a checksum, and adding a checksum.

[0048] Specifically, the watermarking unit reads the environmental parameter values ​​of the current frame from the parameter latching unit and the sensor chip identifier from the chip's internal memory, combining the two into a basic watermark string according to a preset format. Then, based on at least one of the environmental parameters and the chip identifier, a checksum is calculated using an encryption algorithm. Finally, the checksum is appended to a designated position in the basic watermark string to form a complete dynamic watermark for subsequent embedding into image data.

[0049] The basic watermark string is a character sequence formed by concatenating environmental parameter values ​​and sensor chip identifiers in a specific order. Environmental parameter values ​​can be a combination of light intensity and temperature values, such as in the format "light intensity_temperature". The sensor chip identifier is a unique identifier fixed at the chip's factory, typically a hexadecimal or decimal number string.

[0050] As an example, assuming the light intensity value collected in the current frame is 500 lux, the temperature value is 30 degrees Celsius, and the sensor chip identifier is "6F2A1234", these three values ​​will be concatenated into the basic watermark string "500306F2A1234". In this example, the concatenation order is light intensity value, temperature value, and chip identifier in sequence, without any separators to control the watermark length. In practical applications, the concatenation order and format can be pre-defined according to watermark length requirements and system design.

[0051] The verification code is redundant verification information generated by an encryption algorithm based on environmental parameters and chip identifiers. It is used to verify the integrity and authenticity of the watermark content.

[0052] Encryption algorithms include, but are not limited to, Cyclic Redundancy Check (CRC), message digest algorithms (such as MD5), secure hash algorithms (such as SHA-1 or SHA-256), or custom encryption functions. The method of generating the checksum determines its length and anti-counterfeiting capability.

[0053] As an example, an 8-bit cyclic redundancy check (CRC) algorithm is used, taking the basic watermark string "500306F2A1234" as input, to calculate a 4-digit hexadecimal checksum "A5B3". This checksum can detect whether the watermark content has been accidentally or maliciously modified during transmission or storage. In another example, the checksum generation incorporates a fixed encryption seed within the sensor chip. This seed is burned into the chip register during the camera's production calibration phase and serves as the key for the encryption algorithm, further enhancing the checksum's anti-counterfeiting capabilities.

[0054] Adding the verification code to the base watermark string creates a dynamic watermark. The addition position can be a specified location at the end, beginning, or middle of the string. The selection of the addition position must be consistent with the parsing rules used during watermark extraction.

[0055] As an example, the calculated 8-bit checksum "A5B3" is appended to the end of the basic watermark string "500306F2A1234" to form the complete dynamic watermark "500306F2A1234A5B3". This dynamic watermark contains both core information for identifying the image source and acquisition environment, and verification information for verifying data integrity.

[0056] In this embodiment, a basic watermark is formed by concatenating environmental parameters and chip identifiers, achieving a dual binding between the watermark content and the physical state and hardware source at the time of image acquisition. Dynamic changes in environmental parameters ensure that the watermark content differs across different frames, while the uniqueness of the chip identifier guarantees that the watermark cannot be copied to images from other cameras. The introduction of a checksum provides the watermark with self-verification capabilities. The backend verification module can determine whether the watermark content has been tampered with by recalculating the checksum and comparing it with the extracted checksum. This generation method employs lightweight string concatenation and encryption operations, resulting in low resource consumption when implemented within the image sensor chip and without affecting the real-time performance of image acquisition and output. Through the three-layer combination of environmental parameters, chip identifier, and checksum, the dynamic watermark achieves high security strength within a limited data bit width, which is beneficial for improving the reliability of image authenticity and integrity verification.

[0057] In some embodiments of the present invention, such as Figure 4 As shown, step S103 embeds the dynamic watermark into the original image data to obtain a watermarked image, including: S401. Convert the dynamic watermark into a binary data stream; S402. Generate a pixel region in the original image data for embedding the watermark, wherein the pixel region is a continuous edge pixel within a predetermined range of the image boundary; S403. According to the preset pixel traversal order, the binary data stream is written into the least significant bit of each pixel in the pixel area in turn, and each pixel carries a predetermined number of binary bits.

[0058] In one specific implementation, embedding a dynamic watermark into the original image data to obtain a watermarked image includes three steps: binary data stream conversion, embedding region determination, and pixel bit writing.

[0059] Specifically, the watermarking unit first converts the dynamically generated watermark into a binary data stream to adapt to the bit-level storage format of the image pixels. Then, a pixel region for carrying the watermark information is defined in the original image data; this region is selected as consecutive edge pixels near the image boundary. Finally, the binary data stream is sequentially written into the least significant bits of these pixels according to a predetermined traversal order, with a fixed number of bits written to each pixel, thus completing the watermark embedding.

[0060] Converting a dynamic watermark to a binary data stream refers to converting the string-based watermark content into a binary representation character by character. Dynamic watermarks typically consist of numbers, letters, or hexadecimal characters, with each character corresponding to a specific ASCII code or a direct binary value.

[0061] Generating a pixel region for embedding a watermark involves defining a specific set of pixels in the original image to carry the watermark's binary data stream. This region is selected as consecutive edge pixels within a predetermined range of the image boundary, specifically near the top, bottom, left, or right edge of the image, and the pixel positions are continuous. The predetermined range can be a certain number of pixel rows or columns from the image boundary, such as a region within 10 pixels. Edge pixels are chosen because edge regions have a smaller impact on the overall visual effect of the image and typically do not involve key target areas in the image.

[0062] As an example, for a 1920×1080 resolution image, the first 16 consecutive pixels from left to right in the top row of the image are selected as the embedding region. In another example, consecutive pixels from top to bottom in the first column of the left edge of the image are selected, or a combination of pixels from the four corner regions of the image is selected. This sequential arrangement of pixels facilitates sequential writing and subsequent extraction.

[0063] Writing the binary data stream to the least significant bit of each pixel according to a preset pixel traversal order means allocating the binary data stream bit by bit to the least significant bit of each pixel according to a determined pixel access order. The least significant bit (LSB) is the bit with the lowest weight in the binary representation of the pixel value; modifying this bit has the least impact on the pixel value and is imperceptible to the human eye. The number of binary bits carried by each pixel can be preset according to the watermark length and image quality requirements, typically ranging from 1 to 4 bits.

[0064] As an example, using a method where each pixel carries 4 bits of binary data, 16 pixels are needed to write the aforementioned 64-bit binary data stream. The traversal order is from left to right and from top to bottom; that is, the leftmost pixel of the first row is processed first, writing 4 bits of data, and then moving to the right sequentially until all 16 pixels in the first row are written. If there are not enough pixels in the first row, a new row is started and the process continues. The write operation only modifies the lower 4 bits of the pixel value, while the higher 4 bits remain unchanged. Therefore, the difference between the modified pixel value and the original pixel value is minimal, and it does not affect human visual observation or the recognition of image content by subsequent image processing algorithms.

[0065] In this embodiment, by limiting the watermark embedding position to the edge pixels of the image, interference with the core content of the image is avoided, thus maintaining the image's usability. The least significant bit modification method makes the watermark visually transparent, imperceptible to the human eye, and does not affect the normal use of the image in display, storage, or transmission. The strategy of carrying multiple bits of data per pixel increases the watermark embedding capacity while ensuring watermark concealment, allowing a moderately long dynamic watermark to be embedded within a small number of pixels. The conversion and writing of the binary data stream are completed serially within the chip, requiring no additional storage space or complex calculations, resulting in extremely low resource consumption. This embedding method is pipelined with image acquisition and watermark generation steps, introducing no additional latency and meeting the real-time output requirements of 30 frames per second or 60 frames per second for automotive cameras. Through the above steps, the dynamic watermark is fused with the original image data in a visually lossless manner, providing reliable identification information for subsequent authenticity and integrity verification, while maintaining the original purpose and compatibility of the image data.

[0066] In some embodiments of the present invention, such as Figure 5 As shown, step S104 outputs the watermarked image and the environmental parameters of the current frame to the backend image processing module, including: S501, Output watermarked image via MIPI channel; S502, Output the environmental parameters of the current frame through the I2C channel or SPI channel; S503. Timing-binding of the MIPI channel and I2C channel, or timing-binding of the MIPI channel and SPI channel, is performed through the frame synchronization signal so that the output watermarked image and the environmental parameters belong to the same frame.

[0067] In one specific implementation, the watermarked image and the environmental parameters of the current frame are output to the backend image processing module, including three steps: image output, parameter output, and timing binding.

[0068] Specifically, the image sensor chip outputs watermarked image data through a dedicated high-speed interface, while simultaneously outputting the environmental parameters of the current frame through a separate low-speed interface. To ensure that the back-end image processing module can accurately match the image with its corresponding environmental parameters, the output process is coordinated by a frame synchronization signal, achieving frame-level synchronization of image data and environmental parameters in terms of timing.

[0069] Among them, the Mobile Industry Processor Interface (MIPI) is the mainstream interface standard for transmitting image data between image sensor chips and back-end image processing modules. This interface uses differential signal transmission and features high speed, low power consumption, and strong anti-interference capabilities, which can meet the real-time transmission requirements of high-resolution, high-frame-rate image data.

[0070] As an example, the image sensor chip outputs a watermarked image with a resolution of 1920×1080 at a rate of 30 frames per second through the MIPI CSI-2 interface. The data size of each frame is approximately 6.2 megabytes. The data transmission rate of the MIPI interface is set to 800 megabits per second, which is sufficient to meet the data transmission requirements.

[0071] Integrated Circuit Bus (I2C) and Serial Peripheral Interface (SPI) are commonly used interfaces for transmitting control information and low-speed data between image sensor chips and back-end image processing modules. The I2C interface uses a two-wire system (clock line SCL and data line SDA), supports multi-master-slave communication, and is suitable for transmitting small amounts of data; the SPI interface uses a four-wire system (clock line SCK, master-slave input line MOSI, master-slave output line MISO, chip select line CS), supports full-duplex communication, and has a higher transmission rate than I2C.

[0072] As an example, the image sensor chip outputs the environmental parameters of the current frame at a rate of 100 kilobits per second via the I2C interface. The parameters include a light intensity value of 500 lux and a temperature value of 30 degrees Celsius, which occupy a total of 6 bytes of data. The transmission time is less than 0.5 milliseconds, which is much shorter than the transmission period of 33.3 milliseconds for one frame of image.

[0073] Frame synchronization signals are timing reference signals used within the image sensor chip to identify image frame boundaries. They typically include a vertical synchronization signal (VSYNC) and a horizontal synchronization signal (HSYNC). The rising or falling edge of the VSYNC signal indicates the start or end of an image frame, while the HSYNC signal identifies the valid time period for each line of image data. In the output step, frame synchronization signals are used to coordinate the transmission timing of the MIPI and I2C / SPI interfaces, ensuring that environmental parameters are strictly aligned with the corresponding image frames in time.

[0074] As an example, the image sensor chip initiates environmental parameter sampling simultaneously with the rising edge of the VSYNC signal triggering the acquisition of a frame of image data. When the image data of that frame begins to be transmitted through the MIPI interface, the chip's internal control logic initiates the transmission of the environmental parameters of that frame through the I2C interface within the same frame period. When receiving data, the back-end image processing module also uses the VSYNC signal as a reference, assigning the image data received from the MIPI interface and the environmental parameters received from the I2C interface to the same frame identifier.

[0075] One specific implementation of timing binding is to set a synchronization control register inside the image sensor chip, which enables data output from the MIPI and I2C / SPI interfaces during VSYNC activation. Another implementation is to insert a synchronization identifier into the image data stream, for example, by including a frame counter in the frame start packet of MIPI transmission, and simultaneously including the same frame counter value in the environmental parameter data packet of I2C / SPI transmission. The backend module achieves frame-level matching by comparing the counter values.

[0076] As an example, the image sensor chip internally maintains a 12-bit frame counter, which increments by 1 with each image frame. In the image data stream output from the MIPI interface, the start-of-frame packet carries the current counter value; in the environment parameter data packet output from the I2C interface, the first byte is the counter value. After receiving the data, the backend image processing module compares the counter values ​​received from the two interfaces to confirm whether the image and the environment parameters belong to the same frame.

[0077] In this embodiment, the separate transmission of image data and environmental parameters is achieved through the collaborative work of the MIPI and I2C / SPI interfaces. The large volume of image data is handled by the high-speed MIPI interface, ensuring the real-time performance and integrity of image transmission; the small volume of environmental parameter data is handled by the low-speed I2C / SPI interface, avoiding the consumption of MIPI interface bandwidth and maintaining high efficiency in image transmission. The introduction of frame synchronization signals and frame counters enables precise matching of data transmitted through the two independent interfaces at the backend, solving the data alignment problem in multi-channel transmission. This output method requires no modification to the interface hardware of existing image sensor chips; it can be implemented solely through timing control and data packet format design, exhibiting good compatibility. Through the above steps, the backend image processing module can obtain complete and accurate corresponding watermarked images and environmental parameters, avoiding verification errors caused by image-parameter mismatch.

[0078] Figure 6 A schematic flowchart of an embodiment of the security verification method for camera images provided by the present invention is shown below. Figure 6 As shown, the security verification method for camera images includes the following steps performed by the backend image processing module: S601, Receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; S602. Extract watermark information from the received watermarked image; S603. Based on the received environmental parameters and the same preset rules as those used to generate the dynamic watermark, regenerate the verification watermark; S604. Compare the extracted watermark information with the verification watermark, and determine the authenticity and integrity of the watermarked image based on the comparison result.

[0079] In one specific implementation, the security verification method for camera images includes receiving and verifying steps performed by a backend image processing module.

[0080] Specifically, the backend image processing module receives the watermarked image and its corresponding environmental parameters sent by the image sensor chip through the corresponding interface. It extracts the pre-embedded watermark information from the received watermarked image and recalculates the verification watermark using the received environmental parameters according to the same rules as the watermark generation. Finally, it compares the extracted watermark information with the verification watermark and judges the authenticity and integrity of the image based on the comparison results.

[0081] In the receiving step, the back-end image processing module synchronously acquires image data and environmental parameters through multiple interfaces. As an example, the back-end image processing module receives the watermarked image through the Mobile Industry Processor Interface (MIPI) and simultaneously receives the environmental parameters of the current frame through the Integrated Circuit Bus (I2C) or Serial Peripheral Interface (SPI).

[0082] To ensure that the received image and environmental parameters belong to the same frame, the backend module matches them based on the frame synchronization signal or the frame counter in the data packet. For example, the image data stream transmitted through the MIPI interface contains a frame start packet, which carries a 12-bit frame counter value; the first byte of the environmental parameter data packet transmitted through the I2C interface also carries this frame counter value.

[0083] When receiving data, the backend module merges image frames and environmental parameters with the same counter value into a single frame for subsequent verification.

[0084] Furthermore, the watermark extraction step involves recovering the embedded watermark information from the watermarked image, and its operation corresponds to the front-end watermark embedding step. Since the front-end uses the least significant bit method to write the watermark into the image edge pixels, the back-end extraction needs to locate the same pixel area, read the binary data from the least significant bits of these pixels, and then reassemble them into the watermark string.

[0085] As an example, the front-end writes the watermark into the lower 4 bits of the first 16 pixels from left to right in the top row of the image. The back-end similarly locates these 16 pixels, reads the lower 4 bits of each pixel sequentially, obtaining a 64-bit binary data stream, and then converts it into hexadecimal characters in groups of 4, restoring it to the dynamic watermark string "500306F2A1234A5B3". This extraction process is executed by the watermark verification unit in the back-end image processing module, without needing to communicate and negotiate with the front-end; it can be completed independently based solely on preset embedding rules.

[0086] Furthermore, the watermark regeneration verification step involves recalculating the baseline watermark for comparison based on the received environmental parameters and the same preset rules used by the front end. Since the rules used by the front end to generate the watermark are pre-configured in the back end, the back end module can reproduce the watermark content based on the same parameters and algorithms.

[0087] As an example, the backend module receives the light intensity value of 500 lux and the temperature value of 30 degrees Celsius in the current frame, and obtains the identifier of the camera image sensor chip "6F2A1234" from the configuration information. Following the same preset rules as the frontend, the light intensity value, temperature value, and chip identifier are concatenated to form "500306F2A1234", and an 8-bit cyclic redundancy check algorithm is used to calculate the checksum "A5B3", ultimately forming the verification watermark "500306F2A1234A5B3". This regeneration process does not rely on the watermark information transmitted from the frontend, but only on independently obtained environmental parameters and preset rules, ensuring the independence and objectivity of the verification.

[0088] Furthermore, the comparison and judgment step involves comparing the extracted watermark information with the regenerated verification watermark bit by bit, and outputting a judgment on the authenticity and integrity of the image based on the comparison results. If the two are completely consistent, it indicates that the image has not been tampered with during the acquisition and transmission process, and the watermark content matches the acquisition environment parameters, so the image can be judged to be authentic and reliable; if they are inconsistent, it indicates that the image may have been tampered with, or the watermark information may have been damaged during transmission, or the environmental parameters may not match the image, so the image should be judged to be unreliable.

[0089] As an example, the backend module compares two watermark values ​​using a string comparison function. If "500306F2A1234A5B3" matches "500306F2A1234A5B3" exactly, a verification pass signal is output. If the extracted watermark is "500306F2A1234A5B4", which differs from the last character of the verification watermark, a verification failure signal is output. The verification results can be used as a decision-making basis for subsequent image signal processing, perception algorithms, or vehicle control units.

[0090] In this embodiment, the backend image processing module independently receives environmental parameters and reproduces the watermark to achieve objective verification of the image's authenticity and integrity. The extraction step strictly corresponds to the frontend embedding rules, ensuring accurate recovery of the watermark information; the regeneration step is based on independently acquired environmental parameters, avoiding the verification process's dependence on the frontend-transmitted watermark and preventing the risk that the watermark itself could still pass verification even if it has been tampered with; the comparison and judgment step outputs the verification result with clear matching conditions, providing a reliable decision-making basis for subsequent processing. This verification method constructs an independent security verification link outside the image sensor chip, ensuring the trustworthiness of image data throughout the entire link from the source to the processing terminal.

[0091] In some embodiments of the present invention, such as Figure 7 As shown, after determining the authenticity and integrity of the watermarked image based on the comparison results, the security verification method for the camera image includes: S701. If the comparison result is inconsistent, an image unreliable indication is generated. S702. Based on the image untrusted indication, terminate the subsequent processing and control decisions based on the watermarked image.

[0092] In one specific implementation, after determining the authenticity and integrity of the watermarked image based on the comparison results, the method further includes a response processing step after verification failure.

[0093] Specifically, when the watermark verification unit determines that the extracted watermark information is inconsistent with the regenerated verification watermark, it generates an indication signal indicating that the image is untrustworthy, and terminates the subsequent processing of the current watermarked image based on the indication signal, prohibiting it from entering the perception algorithm or vehicle control decision-making process.

[0094] The "generated image untrusted indication" refers to a clear verification status identifier output by the watermark verification unit, used to transmit the verification result to other functional units in the backend image processing module. This indication can be a change in digital signal level, a status bit setting of a specific register, or a flag field in a data packet.

[0095] As an example, after detecting a watermark matching failure, the watermark verification unit clears the "image trust flag" in its internal status register from the default value of 1 to 0, and simultaneously sends a low-level pulse to the image signal processor via a hardware interrupt pin to notify it that the current frame verification has failed. In another example, while outputting the image data stream, the verification unit inserts a specific invalidation mark in the blank area of ​​each pixel row, enabling subsequent processing units to identify the abnormal state of the frame data.

[0096] Terminating subsequent processing and control decisions based on watermarked images means that the backend image processing module, upon receiving an untrusted indication, proactively skips or discards the current frame image data to prevent it from being used for safety-critical functions such as autonomous driving and assisted driving. The specific implementation of the termination operation depends on the functional division of the backend modules and the system architecture.

[0097] As one example, upon receiving an untrusted indication, the image signal processor stops processing the frame image, including automatic white balance, automatic exposure, and color correction. It directly marks the frame data as invalid and discards it, without forwarding it to the perception algorithm module. In another example, after receiving the watermarked image and verification result, if the verification result fails, the perception algorithm module does not input the frame image into neural network models for object detection, lane recognition, etc., for inference, but directly returns an empty result or retains the processing result of the previous frame. In yet another example, upon receiving an untrusted image indication, the vehicle control unit ignores any driving suggestions or control commands generated based on the frame image and triggers system safety policies, such as reducing vehicle speed, requesting manual intervention, or recording the abnormal event for subsequent analysis.

[0098] In this embodiment, a security response mechanism for verification failure is constructed by generating an image untrustworthy indication and terminating subsequent processing. This mechanism ensures that only image data that passes authenticity verification can enter subsequent processing and control stages, preventing the impact of tampered or forged images on vehicle decision-making at the source. This verification method not only determines the authenticity of images but also links the determination result with the system control logic, extending security protection from the data level to the functional execution level, thereby improving the overall security and reliability of the in-vehicle vision system.

[0099] To better implement the security verification method for camera images in this embodiment of the invention, based on the security verification method for camera images, correspondingly, as follows: Figure 8 As shown, this embodiment of the invention also provides a security verification system for camera images. The security verification system 800 for camera images includes a camera image sensor chip 801 and a back-end image processing module 802. The camera image sensor chip 801 includes: The image acquisition unit 8011 is used to acquire raw image data when triggered by a frame synchronization signal; The environmental data acquisition unit 8012 is used to acquire environmental parameters of the current frame under the synchronous triggering of the frame synchronization signal. The parameter latching unit 8013 is connected to the environmental data acquisition unit and is used to temporarily store the environmental parameters of the current frame. The watermarking unit 8014 is connected to the image acquisition unit and the parameter latching unit, and is used to obtain the pre-stored sensor chip identifier, generate a dynamic watermark according to the environmental parameters and the sensor chip identifier, embed the dynamic watermark into the original image data, and output a watermarked image. The backend image processing module 802 includes: The receiving unit 8021 is used to receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; The watermark verification unit 8022 is used to extract watermark information from the received watermarked image, regenerate the verification watermark according to the received environmental parameters and the same preset rules as those used to generate the dynamic watermark, compare the extracted watermark information with the verification watermark, and output the verification result. Decision unit 8023 decides whether to use the watermarked image based on the verification result.

[0100] The security verification system 800 for camera images provided in the above embodiments can implement the technical solutions described in the above embodiments of the security verification method for camera images. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the security verification method for camera images, and will not be repeated here.

[0101] like Figure 9 As shown, the present invention also provides an electronic device 900. The electronic device 900 includes a processor 901, a memory 902, and a display 903. Figure 9 Only some components of the electronic device 900 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0102] In some embodiments, processor 901 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 902 or process data, such as the security verification method for camera images in this invention.

[0103] In some embodiments, processor 901 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 901 may be local or remote. In some embodiments, processor 901 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0104] In some embodiments, memory 902 may be an internal storage unit of electronic device 900, such as a hard disk or memory of electronic device 900. In other embodiments, memory 902 may also be an external storage device of electronic device 900, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 900.

[0105] Furthermore, the memory 902 may include both internal storage units of the electronic device 900 and external storage devices. The memory 902 is used to store application software and various types of data installed on the electronic device 900.

[0106] In some embodiments, display 903 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 903 is used to display information from electronic device 900 and to display a visual user interface. Components 901-903 of electronic device 900 communicate with each other via a system bus.

[0107] In one embodiment, when the processor 901 executes the security verification program for the camera image in the memory 902, the following steps can be implemented: In response to the frame synchronization signal, the acquisition of raw image data and environmental parameters of the current frame is triggered synchronously. Obtain the pre-stored sensor chip identifier, and generate a dynamic watermark according to preset rules based on the environmental parameters of the current frame and the sensor chip identifier; The dynamic watermark is embedded into the original image data to obtain a watermarked image; The watermarked image and the environmental parameters of the current frame are output to the backend image processing module.

[0108] Alternatively, when processor 901 executes the security verification program for the camera image in memory 902, the following steps can be implemented: Receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; Extract watermark information from the received watermarked image; Based on the received environmental parameters and the same preset rules used to generate the dynamic watermark, a verification watermark is regenerated. The extracted watermark information is compared with the verification watermark, and the authenticity and integrity of the watermarked image are determined based on the comparison result.

[0109] It should be understood that when the processor 901 executes the security verification program for the camera image in the memory 902, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0110] Furthermore, the embodiments of the present invention do not specifically limit the type of the electronic device 900 mentioned. The electronic device 900 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 900 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0111] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the security verification method for camera images provided in the above-described method embodiments.

[0112] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0113] The security verification method, system, and electronic device for camera images provided by this invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for secure verification of camera images, characterized in that, The following steps are performed by the image sensor chip: In response to the frame synchronization signal, the acquisition of raw image data and environmental parameters of the current frame is triggered synchronously. Obtain the pre-stored sensor chip identifier, and generate a dynamic watermark according to preset rules based on the environmental parameters of the current frame and the sensor chip identifier; The dynamic watermark is embedded into the original image data to obtain a watermarked image; The watermarked image and the environmental parameters of the current frame are output to the backend image processing module.

2. The security verification method for camera images according to claim 1, characterized in that, The environmental parameters include light intensity and / or temperature.

3. The security verification method for camera images according to claim 1, characterized in that, After the synchronous trigger acquisition of raw image data and environmental parameters of the current frame, and before embedding the dynamic watermark into the raw image data to obtain a watermarked image, the security verification method for the camera image includes: The environmental parameters of the current frame are temporarily latched into the parameter latch unit. After the current frame image data processing is completed, the environmental parameters stored in the parameter latch unit are refreshed to clear the environmental parameters of the current frame.

4. The security verification method for camera images according to claim 1, characterized in that, The step of generating a dynamic watermark according to preset rules based on the environmental parameters of the current frame and the sensor chip identifier includes: The parameter values ​​of the environmental parameters of the current frame are concatenated with the sensor chip identifier to form a basic watermark string; Based on the environmental parameters and / or sensor chip identifier, a verification code is generated using an encryption algorithm; The verification code is added to the basic watermark string to obtain the dynamic watermark.

5. The security verification method for camera images according to claim 1, characterized in that, The step of embedding the dynamic watermark into the original image data to obtain a watermarked image includes: Convert the dynamic watermark into a binary data stream; Generate a pixel region in the original image data for embedding a watermark, wherein the pixel region is a continuous edge pixel within a predetermined range of the image boundary; According to the preset pixel traversal order, the binary data stream is written into the least significant bit of each pixel in the pixel region in sequence, with each pixel carrying a predetermined number of binary bits.

6. The security verification method for camera images according to claim 1, characterized in that, The step of outputting the watermarked image and the environmental parameters of the current frame to the backend image processing module includes: The watermarked image is output via the MIPI channel; The environmental parameters of the current frame are output via the I2C or SPI channel; The MIPI channel and the I2C channel are time-bound using a frame synchronization signal, or the MIPI channel and the SPI channel are time-bound to ensure that the output watermarked image and the environmental parameters belong to the same frame.

7. A method for secure verification of camera images, characterized in that, The following steps are included in the backend image processing module: Receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; Extract watermark information from the received watermarked image; Based on the received environmental parameters and the same preset rules used to generate the dynamic watermark, a verification watermark is regenerated. The extracted watermark information is compared with the verification watermark, and the authenticity and integrity of the watermarked image are determined based on the comparison result.

8. The security verification method for camera images according to claim 7, characterized in that, After determining the authenticity and integrity of the watermarked image based on the comparison results, the process includes the following steps: If the comparison results are inconsistent, an image untrusted indication is generated; Based on the image being deemed untrustworthy, subsequent processing and control decisions based on the watermarked image are terminated.

9. A security verification system for camera images, characterized in that, Including the camera image sensor chip and the back-end image processing module; The camera image sensor chip includes: The image acquisition unit is used to acquire raw image data when triggered by the frame synchronization signal; The environmental data acquisition unit is used to acquire environmental parameters of the current frame under the synchronous triggering of the frame synchronization signal; A parameter latching unit, connected to the environmental data acquisition unit, is used to temporarily store the environmental parameters of the current frame; The watermarking unit, connected to the image acquisition unit and the parameter latching unit, is used to acquire the pre-stored sensor chip identifier, generate a dynamic watermark based on the environmental parameters and the sensor chip identifier, embed the dynamic watermark into the original image data, and output a watermarked image. The backend image processing module includes: The receiving unit is used to receive the watermarked image output by the image sensor chip and the corresponding environmental parameters of the current frame; The watermark verification unit is used to extract watermark information from the received watermarked image, regenerate the verification watermark according to the received environmental parameters and the same preset rules as those used to generate the dynamic watermark, compare the extracted watermark information with the verification watermark, and output the verification result. The decision-making unit decides whether to use the watermarked image based on the verification results.

10. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the security verification method for camera images according to any one of claims 1 to 8.

Images