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Image Encryption Using Chaotic Maps: A Survey

Conference Paper · January 2014

DOI: 10.1109/ICSIP.2014.80

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 2014 Fifth International Conference on Signals and Image Processing

Image Encryption Using Chaotic Maps: A Survey

Priya R Sankpal P. A. Vijaya

Dept. of TCE Dept. of ECE
BNMIT BNMIT
BANGALORE, INDIA BANGALORE, INDIA
[email protected] [email protected]

Abstract— As the exchange of data over the open networks and be used to encrypt images, but it is not a good idea as image
Internet is rapidly growing, security of the data becomes a size is always much greater than the textual data. Also the
major concern. One possible solution to this problem is to decrypted text should be equal to the original text, whereas
encrypt the data. The data can be text, image, audio, video etc.. this requirement is not necessary for image data. An image
In today’s world most of the multimedia applications involve when decrypted contains small distortion and is usually
images. Earlier image encryption techniques like AES,DES,RSA
acceptable because of the characteristic of human perception.
etc. exhibit low levels of security and also weak anti attack
ability. This problem was overcome by using chaos based II. IMAGE ENCRYPTION TECHNIQUES
cryptography. The chaotic systems are very sensitive to initial
conditions and control parameters which make them suitable Image encryption techniques can be divided into two groups
for image encryption. Many works have been done in the field of based on the approach used to construct the encryption
chaos based image encryption. In this survey paper an attempt scheme: chaos based methods and non chaos based methods.
has been made to review the aspects and approaches of the Image encryption can also be classified according to the
design used for image encryption. percentage of the data that is encrypted as full encryption and
partial encryption. Several reviews have been published on
Keywords — Image, cryptography, chaotic maps, encryption, image and video encryption including selective methods,
security, analysis. thereby providing a fairly complete overview of the
techniques developed till date [2] – [5].
I. INTRODUCTION
III. CHAOS THEORY FOR CRYPTOGRAPHY
As the data exchange in electronic way is rapidly increasing,
it is also equally important to protect the confidentiality of A chaotic dynamical system is a deterministic system that
data from unauthorized access. The breaches in security exhibits seemingly random behavior as a result of its
affect user’s privacy and reputation. The data exchanged can sensitive dependence on its initial conditions and can never
be text, image, audio, video etc. Each type of data has its own be specified with infinite precision. The chaotic system
features different techniques are used to protect confidential behavior is unpredictable; thereby it resembles noise. The
image data from unauthorized access. Hence encryption of close relationship between cryptography and chaos makes a
data is done to confirm security in open networks such as the chaos based cryptographic algorithm a natural candidate for
internet where the multimedia applications are ever growing. secure communication and cryptography. Cryptographic
Cryptography is the study of techniques for secure algorithms and chaotic maps have similar properties such as
communication in the presence of an adversary. It deals with sensitivity to changes in the initial conditions and control
problems like encryption, authentication, and key distribution parameters, pseudorandom behavior and unstable periodic
to name a few. Image encryption is a technique that provides orbits with long periods. The basic principle of image
security to images by converting the original image into an encryption using chaos is based on the ability of some
image which is difficult to understand. Applications of image dynamic systems to produce sequence of numbers that are
encryption can extended to military communication, random in nature. Messages are encrypted using these
multimedia systems, medical science, telemedicine, internet sequences [5]. Because of the pseudorandom behavior, the
communication etc. Generally images are different from output of the system seems random in the attacker’s view
textual data. The idea for encryption of image is to consider a whereas it appears as defined in the receiver’s view and
2D image as a 1D data stream and this stream is encrypted decryption is possible [6]. An important difference between
with any textual based cryptosystem. This approach is called cryptography and chaos maps is that encryption
nave approach [1]. For text, small bit rate audio, image and transformations are defined on finite sets whereas chaos maps
video files that can be sent over a fast dedicated channel, this have meaning only for real numbers [5]. Each chaos map has
approach is suitable. Unfortunately these encryption parameters that are equivalent to encryption key in
algorithms may not satisfy for different image data types like cryptography. The similarities and differences between these
JPEG, PNG, BMP, etc... i.e. Traditional cryptosystems can two are listed as shown in Table I.

978-0-7695-5100-5/13 $31.00 © 2013 IEEE 102

DOI 10.1109/ICSIP.2014.80
 Table 1. Similarities and differences between chaos and level. The randomness property which is inherent in chaotic
cryptography maps makes it more suitable for image encryption [7].
There are two ways to apply a chaos map in a cipher system:
1. Generate pseudorandom key stream using chaotic systems V. INSIGHT INTO DIFFERENT ENCRYPTION
2. Use the plain text or the secret key(s) as the initial TECHNIQUES
conditions and control parameters
In the scheme proposed by K. Sakthidasan Sankaran and
B.V. Santhosh Krishna, the cryptosystem consists of two
Cryptography stages: Confusion stage and Diffusion stage. Different
Chaotic Systems
Algorithms chaotic systems are employed in both the confusion and
diffusion stages. Here complex chaotic maps are chosen
Phase space : Set of real Phase space : Finite rather than the simple ones to further increase the complexity
numbers Set of integer numbers of the algorithm, thereby improving the security. The input to
the cryptosystem is a plain image that is to be encrypted.
Iterations Rounds Encryption process comprises of confusion and diffusion
Parameters Key stages. In confusion stage, pixel position permutation is done
using one of the 3D chaotic systems. This is followed by the
Sensitivity to initial conditions Diffusion diffusion stage wherein the pixel value diffusion is carried
and control parameters out again with any one of the chaotic system. The initial
Finally apply some iteration on chaotic systems to obtain conditions and the control parameters used for generating the
cipher text. The first way corresponds to stream ciphers and chaotic sequence in both the stages serve as the secret key in
the second to block ciphers [1]. the 2 stages. Separate keys are used for permutation and
diffusion stage of the encryption process for enhancing the
IV. CHAOS BASED IMAGE CRYPTOSYSTEM: security of the algorithm. The resulting image is called the
ARCHITECTURE cipher image. The decryption process also comprises of 2
stages i.e. Diffusion followed by confusion stage. In the
The architecture of chaos based image cryptosystem mainly diffused image decryption stage, the original pixel values are
consists of two stages: the confusion stage and the diffusion retrieved by using any one of the chaotic system (Lorenz,
stage. The typical block diagram of the architecture is as chen, Lu). The diffusion key used in the 2nd stage of
depicted in the figure 1. encryption is used here also. In the final decryption process,
to get back the original position of the image same confusion
key as used in the first stage of encryption is used. The output
of the decryption stage is nothing but the original image [7].

In this scheme the authors A. Anto Steffi and Dipesh

Sharma proposed modified algorithm for encryption and
decryption of images using chaotic maps. The 2 chaotic
systems are used Lorenz and Baker maps. As mentioned in
[7], the authors perform encryption process comprising of
confusion and diffusion stage. In the confusion and diffusion
stage, the pixel positions and values are changed (based on
Figure 1. Architecture of a chaos - based image cryptosystem. one of the 2 chaotic systems i.e. Lorenz or Baker) thereby
shuffling the image. In both the stages separate keys are used
The confusion stage is the pixel permutation where the for generating the chaotic sequence. In decryption stage,
positions of the pixels are scrambled over the entire image reverse operation is performed and the original image is
without disturbing the values of the pixels. With this the obtained [8].
image becomes unrecognizable. Hence these initial
conditions and control parameters serve as the secret key. It In this paper by Somaya, Al-Maadeed, Afnan Al-Ali,
is not very secure to have only the permutation stage since it and Turki Abdalla, new image encryption scheme consists of
may be broken by any attack. To enhance the security, the pixel shuffler unit and a stream cipher unit. Pixel scrambling
second stage of the encryption process aims at changing the has 2 important issues which are useful for image encryption.
value of each pixel in the entire image. The process of Along with rearranging of pixel location (diffusion), it also
diffusion is carried out through a chaotic map which is changes the values of each pixel value (confusion).
mainly dependent on the initial conditions and control Confusion is performed by stream cipher through non-linear
parameters. In the diffusion stage, the pixel values are function operation. The pixel shuffler unit consists of a
modified sequentially by the sequence generated from the permutation map which can be applied in two directions:
chaotic systems. The whole confusion-diffusion round vertical and horizontal to decrease the adjacent pixels
repeats for number of times to achieve security of satisfactory correlation. A 2D Henon map is employed as a

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pseudorandom number generator to build a permutation In their paper, Chong Fu et.al. proposed a novel bidirectional
matrix. Now After pixel permutation, W7 algorithm is diffusion strategy which can significantly accelerate the
applied. The W7 algorithm generates a pseudorandom cipher spreading process to promote the efficiency of chaos –based
bit stream called the key stream whose length is equal to image encryption. Also to enhance the security of the system,
shuffled image binary sequence. The cipher image is a plain-text related chaotic orbit turbulence mechanism is
obtained by XORing the shuffled image binary sequence introduced in the diffusion stage by disturbing control
with the key stream. For decryption, the received cipher parameters of the employed chaotic system according to the
image is XORed with key stream and reverse shuffling cipher pixel. The image shuffling is done by Chirikov map.
operation is done via the inverse permutation [6]. The shuffled image histogram is same as that of the plain
image since the permutation operation shuffles only the pixel
In the paper by Hazem Mohammad Al-Najjar and Asem positions without changing its value. As a result of this, the
Mohammad AL-Najjar, an image encryption based on shuffled image is weak against statistical attack and known
logistic map chaotic function is discussed. The encryption plain text attack. To overcome this, a diffusion procedure
system can be divided into 2 approaches as pixel replacement based on chebyshev map is employed. In the diffusion stage,
approach and pixel scrambling approach. In pixel to confuse the relationship between cipher and plain image,
replacement approach, the pixel values are changed where as the pixel values are modified sequentially. The chaotic
in pixel scrambling the pixel positions are changed. This chebyshev map is used to generate the key stream for the
algorithm consists of 2 replacement approaches to change the diffusion. In general diffusion process is a time consuming
value of the pixel without shuffling the image itself. To procedure. For conventional chaos cipher images, overall 3-4
achieve this, two pixel mapping tables that are created by rounds are needed usually to achieve a satisfactory diffusion
using the logistic map are used. The pixel mapping table performance. This kind of computational complexity greatly
(PMT) contains the pixel values from 0 to 255 in the shuffled downgrades its efficiency. Hence to improve the efficiency of
order with the size 256x1. The algorithm uses only the chaos based image encryption, a bidirectional diffusion
replacement approaches to encrypt the image. The 2 different scheme which accelerates the spreading process is used. The
replacement approaches are: in the first approach, the pixels proposed diffusion module consists of 2 independent
are shifted by suing a random value and mapping it by using diffusion stages with different spreading direction where as
PMT. In the second approach, replacement is done by using the permutation module is kept unchanged. In the first stage,
the XORing operation with specific random vector generated the difference is spread out to all pixels by modifying the
by using the logistic map. The process of decryption is done pixel values sequentially left to right, top to bottom. In the
in the reverse order [9]. second stage, right to left, a bottom to top sequential
modification is carried out rather than starting the next round
This proposed scheme uses the composite of the chaotic of permutation-diffusion as in the conventional diffusion
coupled map lattices to achieve the goal of image encryption. schemes. As a result of this, the diffused pixels are spread out
A gray scale image of size mxn (I mxn) is considered for the to the cipher image instead of wider range of the cipher
purpose. The image is transformed into a matrix of I mxn x 1. image. Hence the overall encryption round are reduced
Using the chaotic logistic map the strength of the coupling is without downgrading the security level [12].
generated which in turn is used for finding the chaotic
trigonometric maps. The 2D dynamical coupled resulting In this algorithm, the image is represented in the matrix form
sequences from this operation are again bitwise XORed to wherein the gray levels are in the range 0 to 1. This pixel
get the final cipher image. The decryption process is same as matrix is converted into an array. The pixel values are
the encryption but with reverse steps [10]. converted to unsigned integer in the range of 0 to 255 using
mod operation. Generation of chaotic sequence in the range 0
In this paper presented by kamlesh Gupta and Sanjay to 1 using circle map with initial condition and control
Silakari, the main image of size MxN is divided into 3 parameters is done. By XORing the pixel array and the
separate images as Red, Green and Blue images. While the chaotic sequence an intermediate cipher is generated. This
red and green images are transformed into vertical and intermediate cipher image is shuffled to get the final cipher
horizontal planes respectively, the blue image is retained as it array. The resultant cipher array is transformed to get the
is. From the Transformed/rotated image, one row is read final cipher image. The initial conditions and map parameters
from each of planes to create a plane of these 3 image planes. are secret keys. The decryption process is reverse operation
First level of confusion is done by the 2D cat map. The final of encryption [13].
confusion stage is performed by a cascade of 2 maps i.e. first
by cat map and then by standard map. The confusion stage is In this paper, Shima Ramesh Maniyath1 and Supriya M,
followed by the diffusion stage and cipher image is obtained propose a secure and computationally feasible image and
by XORing each pixels of confused image with the diffused video encryption/decryption algorithm based on DNA
image. Decryption process is the reverse operation of the sequences. The main aim was to reduce the big image
encryption procedure [11]. encryption time. A plain image ‘Á’ of size MxN is
considered for encryption process. A new image A1 is
obtained by confusing the input plain image with a

104
scrambling sequence generated by the DNA sequence. The from the chaotic map are uniformly distributed like white-
scrambling of image is done with the help of Arnold cat map. noise. The Histograms of the discussed schemes consists of
Next another image A2 is obtained by XORing the image A1 spikes that are almost uniformly distributed and significantly
with DNA template B1 which is generated by the second different from those of the original images and therefore bear
DNA sequence. This process is repeated for 2 rounds and at no statistical resemblance to the plain-image. Hence they do
the end of 2 rounds, a cipher image is obtained. In this paper not provide any clue to employ any statistical attack on the
for generating the DNA template/sequence DNA digital image encryption technique discussed.
coding technology is used. For any pixel, the range of its gray
value is 0 – 255. Instead of using gray value, four bases i.e. D. Correlation co-efficient analysis
00, 01, 10 and 11 are replaced by A, T, C and G [14]. In addition to the histogram analysis, study of the correlation
between two horizontal, vertical and diagonal diagonally
VI. SECURITY ANALYSIS OF THE ENCRYPTION adjacent pixels of the plain image and the encrypted image is
SCHEMES used. In case of plain image each pixel is usually highly
correlated with its adjacent pixels either in horizontal,
Security analysis can be referred as the art of finding the vertical or diagonal directions where as for encrypted image
weakness of a cryptosystem and retrieval of either the whole these correlation will be very small. A high correlation value
or a part of a ciphered image or finding the secret key without implies the best match between the plain and cipher images.
knowing the decryption key of the algorithm. There are many This means that if the correlation coefficient of the plain
techniques available for applying analysis, depending on image and the deciphered image is large, then there is
what access the analyst has to the plaintext, cipher text, or maximum similarity between the two images. The correlation
other aspects of the cryptosystem. Some of the most common coefficients of the adjacent pixels of the ciphered image
types of attacks to encrypted images are discussed as below obviate that the discussed algorithm has a good ability of
[1], [13]: diffusion and confusion and hence are highly resistive against
A. Key Space Analysis the statistical attack
The number of try’s to find the decryption key by checking
all possible keys refers to key space of the cryptosystem that E. Information entropy analysis
grows exponentially with increasing key size. That is For testing the robustness of the encryption algorithm, the
doubling the key size for an algorithm does not simply concept of entropy is also used. Theoretically, a true random
double the required number of operations, but rather squares system should generate 28 symbols with equal probability,
them. For example an algorithm with a 128 bit in key size i.e., m = {m1, m2, m3, …. , m28} for 8 bit depth. The entropy of
defines a key space of 2128, which takes about 1021 years to the plain images and the ciphered images are compared.
check all the possible keys, with nowadays high performance From this analysis it is clear that the entropy of the ciphered
computers. Hence a cryptosystem with large key size looks image is approximately equal to 8, which proves the ability
computationally robust against a brute force attack. of the encryption technique against the entropy attack.

B. Key Sensitivity Analysis F. Differential Analysis

Another requirement for a good image encryption scheme is The aim of this analysis is to determine the sensitivity of the
sensitiveness to the secret key used. The change in a single encryption algorithm to slightest changes. If an opponent can
bit of the secret key should produce a completely different create a small change (e.g. one pixel) in the plain image to
encrypted or the decrypted image. observe the results, this manipulation should cause a
significant change in the encrypted image. Then the opponent
C. Statistical Analysis is not able to find a meaningful relationship between the
Statistical analysis of image demonstrates the relationship original and encrypted image with respect to diffusion and
between the original and ciphered image. Therefore, ciphered confusion. Hence the differential attack loses its efficiency
image must be completely different from the original. For an and become useless. Two criteria NPCR and UACI are used
image there are many ways to determine whether the to test the sensitiveness of a single bit change the plain-
ciphered image leaks any information about the original image. Number of pixels change rate (NPCR) is defined as
image. The histograms and the correlations of two adjacent the percentage of different pixel numbers between two
pixels in the plain image as well as in the cipher image are encrypted images, whose plain images have only one pixel
used for statistical analysis of the encryption scheme difference. Unified average changing intensity (UACI) is
discussed. An image-histogram describes the image-pixels defined as the average intensity of differences between 2
distribution by plotting the number of pixels at each intensity cipher images, corresponding to plain images that have only
level. The histograms give the statistical characteristics of an one pixel difference. The high values of these two parameters
image. If the histograms of the encrypted image are same as Indicate that small change in plain image creates significant
the random image, the encryption algorithm has good changes in the ciphered images. Hence the discussed
performance. Histograms for each of the encryption scheme algorithms are highly resistive against differential attack.
discussed reveal the fact that the random numbers generated

105
 VII. COMPAIRSON OF CHAOTIC MAPS Key space - 2302
Correlation coefficient
All the encryption algorithms discussed here employed Plain Cipher
Coefficient
different security analysis as mentioned in the previous, to image image
Chaotic coupled
validate the good performance and evaluate the robustness of map lattices, Horizontal 0.9341 0.0014
[10]
a cryptosystem. All the security analysis details are Chaotic
concluded in the form of table as shown in Table II. From the trigonometric map Vertical 0.9634 0.0036
table an analysis can be made of each method used for image
Diagonal 0.9402 0.0027
encryption using chaos theory.
TABLE II. COMPAIRSON OF VARIOUS CHAOS BASED NPCR – 0.25% & UACI – 0.19%
CRYPTOGRAPHY TECHNIQUES Key space – 2148
Key Sensitivity – High
Correlation coefficient
Plain Cipher
Coefficient
image image

[11] Arnold Cat map Horizontal 0.9156 0.001

Chaotic map
Reference Features
used
Vertical 0.8808 0.006
Key space - Large
Key Sensitivity - Medium Diagonal 0.8603 0.091
Correlation coefficient
Average Entropy – 7.9981
Lorenz Plain Cipher NPCR – 99.62 & UACI – 33.19
Coefficient
image image
Key space - 2167
[7] Chen Key sensitivity – High
Horizontal 0.9791 0.0052
Lu Correlation Coefficient
Plain Cipher
Vertical 0.9357 0.0539 Chirikov map , Coefficient
image image
[12]
Chebyshev map Horizontal 0.9404 0.0088
Diagonal 0.9183 0.1141
Vertical 0.9299 -0.0087
Diagonal 0.9257 -0.0060
Key space – 2128
Average Entropy – 7.9902
Key Sensitivity – High
Correlation coefficient NPCR – 99.609 & UACI – 33.464
Lorenz,
[8] Horizontal 0.9598 -0.003 Key space – 2256
Baker Key sensitivity – High
Vertical 0.9763 -0.0013 Correlation Coefficient
Plain Cipher
Average Entropy – 7.9973 Circle map
Coefficient
image image
[13]
Key space – 2128 Horizontal 0.9712 0.0012
Key Sensitivity – High Vertical 0.9698 0.0032
Correlation coefficient Diagonal 0.9861 0.0058
Average Entropy – 7.9902
Plain Cipher
Coefficient NPCR – 99.63 & UACI – 33
image image
[6] Henon map Correlation Coefficient
Horizontal 0.9976 0.0096
Plain Cipher
Coefficient
Arnold map image image
Vertical 0.9924 0.0038 [14]
Horizontal 0.9489 -0.0041
Average Entropy – 7.9904 Vertical 0.9473 -0.0089
NPCR – 0.0015% & UACI – 0.0005% NPCR – 0.0015%
Key space – 1045 UACI – 0.004%
Key Sensitivity – High
Correlation coefficient VIII. CONCLUSION
Plain Cipher
Coefficient
image image The security of digital images has become highly important
for communication over open networks and the internet. In
[9] Logistic map Horizontal 0.9278 0.0965 this survey paper, the existing chaos based image encryption
schemes have been discussed and analyzed to validate their
Vertical 0.9609 0.1086 performance against different types of attacks. To conclude,
all the encryption schemes are useful for real time image
Diagonal 0.9060 0.0161
encryption and each scheme is unique in its own way which
Average Entropy – 7.9996 is appropriate for different applications. Security can be
NPCR – 99.6231& UACI – 33.4070
enhanced by having multiple chaotic maps for image

106
 encryption. Also there are many more chaotic maps that need
to be explored. To name few we have Duffling map,
Horseshoe map, Ikeda map, Gauss map etc. Hence
encryption that can be referred as a scientific art which is
ever changing and fast growing should always exhibit high
rate of security.

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