Abstract:Recently, to conquer most non-plain related chaos-based image cryptosystems' security flaws that cannot resist the powerful chosen/knownn plain-text attacks or differential attacks efficiently for less plaintext sensitivity, many plain related chaos-based image cryptosystems have been developed. Most cryptosystems that have adopted the traditional permutation-diffusion structure still have some drawbacks and security flaws: (1) most plaintext related image encryption schemes using only plaintext related confusion operation or only plaintext related diffusion operation relate to plaintext inadequately that cannot achieve high plaintext sensitivity; (2) in some algorithms, the generation of security key that needs to be sent to the receiver is determined by the original image, so these algorithms may not applicable to real-time image encryption; (3) most plaintext related image encryption schemes have less efficiency because more than one round permutation-diffusion operation is required to achieve high security. To obtain high security and efficiency, a simple chaotic based color image encryption system by using both plaintext related permutation and diffusion is presented in this paper. In our cryptosystem, the values of the parameters of cat map used in permutation stage are related to plain image and the parameters of cat map are also influenced by the diffusion operation. Thus, both the permutation stage and diffusion stage are related to plain images, which can obtain high key sensitivity and plaintext sensitivity to resist chosen/known plaintext attacks or differential attacks efficiently. Furthermore, only one round of plaintext related permutation and diffusion operation is performed to process the original image to obtain cipher image. Thus, the proposed scheme has high efficiency. Complete simulations are given and the simulation results prove the excellent security and efficiency of the proposed scheme.

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Abstract:Recently, a variety of chaos-based image encryption algorithms adopting the traditional permutation-diffusion structure have been suggested. Most of these algorithms cannot resist the powerful chosen-plaintext attack and chosen-ciphertext attack efficiently for less sensitivity to plain-image. This paper presents a symmetric color image encryption system based on plaintext-related random access bit-permutation mechanism (PRRABPM). In the proposed scheme, a new random access bit-permutation mechanism is used to shuffle 3D bit matrix transformed from an original color image, making the RGB components of the color image interact with each other. Furthermore, the key streams used in random access bit-permutation mechanism operation are extremely dependent on plain image in an ingenious way. Therefore, the encryption system is sensitive to tiny differences in key and original images, which means that it can efficiently resist chosen-plaintext attack and chosen-ciphertext attack. In the diffusion stage, the previous encrypted pixel is used to encrypt the current pixel. The simulation results show that even though the permutation-diffusion operation in our encryption scheme is performed only one time, the proposed algorithm has favorable security performance. Considering real-time applications, the encryption speed can be further improved.

Many plaintext-related or non-plaintext-related image encryption algorithms based on chaotic systems have been found inefficient and insecure under chosen plaintext attacks. In this paper, a novel plaintext-related mechanism based on the peculiarity of plaintext DNA coding (PPDC) is presented and used to developed a symmetric image encryption algorithm. In our scheme, a hyper-chaotic Lorenz system is used to produce four chaotic sequences. Firstly, by using one chaotic sequence to control the DNA rules, the original image is encoded to obtain the image DNA coding and PPDC, and another chaotic sequence is encoded into a DNA sequence, which is used in the DNA XOR operation. Then, the processing of the remaining two chaotic sequences by using the PPDC is performed to obtain two key streams, which are used in the permutation stage. After performing the traditional permutation operation and DNA XOR operation, the cipher image is obtained. Because of the use of the PPDC, the key streams used in the permutation stage are related to the secret keys and plaintext image, which gives the encryption system higher plaintext sensitivity and security. The simulation experimental results and security analysis demonstrate that the proposed encryption system possesses high efficiency and security and can resist various typical attacks like exhaustive attack, statistical attack, and differential attack effectively.

Traditional visual simultaneous localization and mapping (SLAM) systems mostly based on small-area static environments. In recent years, some studies focused on combining semantic information with visual SLAM. However, most of them are hard to obtain better performance in the large-scale dynamic environment. And the accuracy, rapidity of the system still needs to strengthen. In this paper, we develop a more efficient semantic SLAM system in the two-wheeled mobile robot by using semantic segmentation to recognize people, chairs, and other objects in every keyframe. With a preliminary understanding of the environment, fusing the RGB-D camera and encoders information, to localization and creating a dense colored octree map without dynamic objects. Besides, for the incomplete identification of movable objects, we used image processing algorithms to enhance the semantic segmentation effect. In the proposed method, enhanced semantic segmentation in keyframes dramatically increases the efficiency of the system. Moreover, fusing the different sensors can highly raise localization accuracy. We conducted experiments on various datasets and in some real environments and compared them with DRE-SLAM, DS-SLAM, to evaluate the performance of the proposed approach. The results suggest we significantly improve the processing efficiency, robustness, and quality of the map.