Image Robust Watermarking Method Based on DWT-SVD Transform and Chaotic Map

Table 3

Invisibility test comparison with related work.

Carrier image	Ref. [40]		Ref. [44]		Ref. [45]		Ours
	PSNR	SSIM	PSNR	SSIM	PSNR	SSIM	PSNR	SSIM
Lena	41.16	0.9878	42.1048	0.9743	35.7755	0.9150	43.0618	0.9894
Pepper	41.27	0.9884	42.2843	0.9775	35.7955	0.9169	43.0592	0.9875
Boat	41.29	0.9915	—	—	—	—	43.0672	0.9945
Lake	—	—	42.1115	0.9808	—	—	43.0617	0.9889
Baboon	—	—	42.2743	0.9920	34.9920	0.9080	43.0897	0.9964