Copy-paste tampering is a common type of digital image tampering, which refers to copying a part of the image area in the same image, and then pasting it into another area of the image to generate a forged image, so as to carry out malicious operations such as fraud and framing. This kind of malicious forgery leads to the security problem of digital image. The research of digital image copy paste forensics has important theoretical significance and practical value. For digital image copy-paste tampering, this paper is based on moment invariant image copy paste tampering detection algorithm, and use Matlab software to design the corresponding tampering forensics system.
The system uses TM4C123G as the core of quadrotor autonomous vehicle control, which consists of flight control module, power supply module, motor speed control module, optical flow sensing module, and target tracking identification module. The flight control module includes angle sensor, gyroscope, and TLS1401-LF module. The flight control processes the collected data through the chip (TM4C123G), and processes the data with PID control algorithm, while solving the PWM increment and decrement needed for the corresponding motor, adjusting the motor in time and adjusting the flight attitude. The binocular camera identifies the color of the pole tower and measures the distance, so that the distance between the aircraft and the nearest point of the pole tower is kept within 50±10cm. After detecting the red (green) tower as the center, fly around the tower clockwise (counter) for one week (top view). Finally, the OV7725 camera is used to identify the solid black circle mark of the landing point and land smoothly and accurately in the target area, thus realizing an efficient robot around the barrier.
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