Abstract
This survey presented a discussion of the existing scaling factor and adaptive scaling factor in image watermarking schemes. The discussion included several issues: robustness, imperceptibility and computational time for embedding a watermark. This survey also discussed the general concept of the image watermarking, transform method, embedding region and security on the existing watermarking scheme. This paper also discussed the recent use of watermarking techniques, potential issues and available solutions in adaptive watermarking schemes. Furthermore, the performance summary of the state-of-art embedding techniques is presented and analysed for future research. This literature review became useful to researchers to know the current challenges in embedding a watermark image. This survey information can be used to design an efficient embedding watermark for copyright protection.
Similar content being viewed by others
References
Abdelhakim AM, Saleh HI, Nassar AM (Apr. 2017) A quality guaranteed robust image watermarking optimization with artificial bee Colony. Expert Syst Appl 72:317–326. https://doi.org/10.1016/J.ESWA.2016.10.056
Abdulrahman AK, Ozturk S (2019) A novel hybrid DCT and DWT based robust watermarking algorithm for color images. Multimed Tools Appl 78(12):17027–17049. https://doi.org/10.1007/s11042-018-7085-z
Agarwal C, Mishra A, Sharma A, Bedi P (2014) Optimized gray-scale image watermarking using DWT – SVD and firefly algorithm. Expert Syst Appl 41(17):7858–7867. https://doi.org/10.1016/j.eswa.2014.06.011
Ahmad F, Cheng L-M (Jul. 2018) Authenticity and copyright verification of printed images. Signal Process 148:322–335. https://doi.org/10.1016/J.SIGPRO.2018.02.029
Ahmadi SB, Zhang G, Wei S, Boukela L (2020) An intelligent and blind image watermarking scheme based on hybrid SVD transforms using human visual system characteristics. Vis. Comput 37:385–409. https://doi.org/10.1007/s00371-020-01808-6
Albalawi U, Mohanty SP, Kougianos E (2017) A new region aware invisible robust blind watermarking approach. Multimed Tools Appl 76(20):21303–21337. https://doi.org/10.1007/s11042-016-4063-1
Ali M, Ahn CW (2015) Comments on ‘optimized gray-scale image watermarking using DWT-SVD and Firefly Algorithm. Expert Syst Appl 42(5):2392–2394. https://doi.org/10.1016/j.eswa.2014.10.045
Al-Otum H, Al-Shalabi NE (2017) Copyright protection of color images for android-based smartphones using watermarking with quick-response code. Multimed Tools Appl 77:15625–15655. https://doi.org/10.1007/s11042-017-5138-3
Alshoura WH, Zainol Z, Sen Teh J, Alawida M (2020) A new chaotic image watermarking scheme based on SVD and IWT. IEEE Access 8:43391–43406. https://doi.org/10.1109/ACCESS.2020.2978186
Ansari IA, Pant M (2015) SVD watermarking: particle swarm optimization of scaling factors to increase the quality of watermark BT. Proceed Fourth Int Conf Soft Comput Problem Solving:209–218
Ansari IA, Pant M (Jul. 2017) Multipurpose image watermarking in the domain of DWT based on SVD and ABC. Pattern Recogn Lett 94:228–236. https://doi.org/10.1016/J.PATREC.2016.12.010
Ansari A, Hong S, Saavedra G, Javidi B, Martinez-Corral M (2018) Ownership protection of plenoptic images by robust and reversible watermarking. Opt Lasers Eng 107:325–334. https://doi.org/10.1016/J.OPTLASENG.2018.03.028
Bhinder P, Jindal N, Singh K (2019) An improved robust image-adaptive watermarking with two watermarks using statistical decoder. Multimed Tools Appl 79:183–217. https://doi.org/10.1007/s11042-019-07941-2
Cao X, Fu Z, Sun X (2016) A privacy-preserving outsourcing data storage scheme with fragile digital watermarking-based data auditing. J Electr Comput Eng:1–8. https://doi.org/10.1155/2016/3219042
Chang T-J, Pan I-H, Huang P-S, Hu C-H (2019) A robust DCT-2DLDA watermark for color images. Multimed Tools Appl 78:9169–9191. https://doi.org/10.1007/s11042-018-6505-4
Chaturvedi R, Sharma A, Dwivedi U, Kumar S, Kumar AP (2016) Security enhanced image watermarking using mid-band DCT coefficient in YCbCr space. Int J Control Theory Appl 9(23):271–278
Chen ST, Huang HN, Kung WM, Hsu CY (2016) Optimization-based image watermarking with integrated quantization embedding in the wavelet-domain. Multimed Tools Appl 75(10):5493–5511. https://doi.org/10.1007/s11042-015-2522-8
Chen F, He H, Huo Y (2017) Self-embedding watermarking scheme against JPEG compression with superior imperceptibility. Multimed Tools Appl 76(7):9681–9712. https://doi.org/10.1007/s11042-016-3574-0
Cui X, Niu Y, Zheng X, Han Y (2018) An optimized digital watermarking algorithm in wavelet domain based on differential evolution for color image. PLoS One 13(5):1–15. https://doi.org/10.1371/journal.pone.0196306
Dappuri B, Rao MP, Sikha MB (2020) Non-blind RGB watermarking approach using SVD in translation invariant wavelet space with enhanced Grey-wolf optimizer. Multimed Tools Appl 79(41–42):31103–31124. https://doi.org/10.1007/s11042-020-09433-0
Das C, Panigrahi S, Sharma VK, Mahapatra KK (Mar. 2014) A novel blind robust image watermarking in DCT domain using inter-block coefficient correlation. AEU - Int J Electron Commun 68(3):244–253. https://doi.org/10.1016/J.AEUE.2013.08.018
De S, Bhaumik J, Dhar P, Roy K (2017) Communication, Devices, and Computing, vol. 470. Springer Singapore
Dey N, Samanta S, Chakraborty S, Das A, Chaudhuri SS, Suri JS (2014) Firefly algorithm for optimization of scaling factors during embedding of manifold medical information: an application in ophthalmology imaging. J Med Imaging Heal Informatics 4(3):384–394. https://doi.org/10.1166/jmihi.2014.1265
Ernawan F, Ariatmanto D (2019) Image watermarking based on integer wavelet transform-singular value decomposition with variance pixelsI. Int. J. Electr. Comput. Eng. l. 9(3): 2185–2195, https://doi.org/10.11591/ijece.v9i3.pp2185-2195.
Ernawan F, Kabir MN (2018) A blind watermarking technique using redundant wavelet transform for copyright protection. 2018 IEEE 14th Int Colloquium Signal Process Its Appl (CSPA):221–226. https://doi.org/10.1109/CSPA.2018.8368716
Ernawan F, Kabir MN (2018) A block-based RDWT-SVD image watermarking method using human visual system characteristics. Vis Comput 36:1–19. https://doi.org/10.1007/s00371-018-1567-x
Ernawan F, Kabir MN (2018) A robust image watermarking technique with an optimal DCT-Psychovisual threshold. IEEE Access 6:20464–20480. https://doi.org/10.1109/ACCESS.2018.2819424
Ernawan F, Kabir MN (2019) An Improved Watermarking Technique for Copyright Protection Based on Tchebichef Moments. IEEE Access. 7: 151985–152003
Ernawan F, Ramalingam M, Sadiq A, Mustaffa Z (2017) An improved imperceptibility and robustness of 4x4 DCT-SVD image watermarking with a modified entropy. J Telecomm, Electronic Comput Eng 9(2–7):111–116
Fang H, Zhou H, Ma Z, Zhang W, Yu N (2019) A robust image watermarking scheme in DCT domain based on adaptive texture direction quantization. Multimed Tools Appl 78:8075–8089. https://doi.org/10.1007/s11042-018-6596-y
Fazli S, Moeini M (Jan. 2016) A robust image watermarking method based on DWT, DCT, and SVD using a new technique for correction of main geometric attacks. Optik (Stuttg) 127(2):964–972. https://doi.org/10.1016/j.ijleo.2015.09.205
Gangadhar Y, Giridhar Akula VS, Reddy PC (2018) An evolutionary programming approach for securing medical images using watermarking scheme in invariant discrete wavelet transformation. Biomed Signal Process Control 43:31–40. https://doi.org/10.1016/J.BSPC.2018.02.007
Ghazvini M, Hachrood EM, Mirzadi M (2017) An improved image watermarking method in frequency domain. J Appl Secur Res 12(2):260–275. https://doi.org/10.1080/19361610.2017.1277878
Giri KJ, Bashir R Digital Watermarking: A Potential Solution for Multimedia Authentication. In: Intelligent Techniques in Signal Processing for Multimedia Security, N. Dey and V. Santhi, Eds. Cham: Springer International Publishing, pp. 93–112, 2017.
Gonge SS, Ghatol A (2016) Aggregation of discrete cosine transform digital image watermarking with advanced encryption standard technique. Procedia Comput Sci 89:732–742. https://doi.org/10.1016/J.PROCS.2016.06.046
Guo JM, Riyono D, Prasetyo H (2018) Hyperchaos permutation on false-positive-free SVD-based image watermarking. Multimed Tools Appl 78(20):29229–29270. https://doi.org/10.1007/s11042-018-6767-x
Gupta R, Mishra A, Jain S (2018) A semi-blind HVS based image watermarking scheme using elliptic curve cryptography. Multimed Tools Appl 77(15):19235–19260. https://doi.org/10.1007/s11042-017-5351-0
Hamid M, Wang C (2016) A simple image-adaptive watermarking algorithm with blind extraction. Int. Conf. Syst. Signals, Image Process., June: 7–10. https://doi.org/10.1109/IWSSIP.2016.7502755.
Hamidi M, Haziti ME, Cherifi H, Hassouni ME (2018) Hybrid blind robust image watermarking technique based on DFT-DCT and Arnold transform. Multimed Tools Appl 77(20):27181–27214. https://doi.org/10.1007/s11042-018-5913-9
Hashmi MF, Shukla RJ, Keskar AG (2015) Real time copyright protection and implementation of image and video processing on android and embedded platforms. Procedia Comput Sci 46:1626–1634. https://doi.org/10.1016/j.procs.2015.02.096
He Y, Hu Y (2018) A Proposed Digital Image Watermarking Based on DWT-DCT-SVD. Proceed 2018 2nd IEEE Adv Inform Manag, Comm, Electronic Automation Control Conf, IMCEC 2018:1214–1218. https://doi.org/10.1109/IMCEC.2018.8469626
Hsu L-Y, Hu H-T (Jul. 2017) Robust blind image watermarking using crisscross inter-block prediction in the DCT domain. J Vis Commun Image Represent 46:33–47. https://doi.org/10.1016/J.JVCIR.2017.03.009
Hu H-T, Chang J-R (2018) Dual image watermarking by exploiting the properties of selected DCT coefficients with JND modeling. Multimed Tools Appl 77(20):26965–26990. https://doi.org/10.1007/s11042-018-5900-1
Hu H-T, Hsu L-Y (2017) Collective blind image watermarking in DWT-DCT domain with adaptive embedding strength governed by quality metrics. Multimed Tools Appl 76(5):6575–6594. https://doi.org/10.1007/s11042-016-3332-3
Hu H-T, Chang J-R, Hsu L-Y (Oct. 2016) Robust blind image watermarking by modulating the mean of partly sign-altered DCT coefficients guided by human visual perception. AEU - Int. J. Electron. Commun. 70(10):1374–1381. https://doi.org/10.1016/J.AEUE.2016.07.011
Kadhim IJ, Premaratne P, Vial PJ, Halloran B (2019) Comprehensive survey of image steganography: techniques, evaluations, and trends in future research. Neurocomputing 335:299–326. https://doi.org/10.1016/j.neucom.2018.06.075
Keshavarzian R, Aghagolzadeh A (Mar. 2016) ROI based robust and secure image watermarking using DWT and Arnold map. AEU - Int J Electron Commun 70(3):278–288. https://doi.org/10.1016/J.AEUE.2015.12.003
Keyvanpour MR, Merrikh-Bayat F (2011) Robust dynamic block-based image watermarking in DWT domain. Procedia Comput. Sci. 3:238–242. https://doi.org/10.1016/j.procs.2010.12.040
Khalili M (2015) DCT-Arnold chaotic based watermarking using JPEG-YCbCr. Opt - Int J Light Electron Opt 126(23):4367–4371. https://doi.org/10.1016/J.IJLEO.2015.08.042
Kumar C, Singh AK, Kumar P (2018) A recent survey on image watermarking techniques and its application in e-governance. Multimed Tools Appl 77(3):3597–3622. https://doi.org/10.1007/s11042-017-5222-8
Lai C-C (2011) An improved SVD-based watermarking scheme using human visual characteristics. Opt Commun 284(4):938–944. https://doi.org/10.1016/J.OPTCOM.2010.10.047
Lang J, Zhang Z (2014) Blind digital watermarking method in the fractional Fourier transform domain. Opt Lasers Eng 53:112–121. https://doi.org/10.1016/J.OPTLASENG.2013.08.021
Loan NA, Hurrah NN, Parah SA, Lee JW, Sheikh JA, Bhat GM (2018) Secure and robust digital image watermarking using coefficient differencing and chaotic encryption. IEEE Access 6:19876–19897. https://doi.org/10.1109/ACCESS.2018.2808172
Luo AW, Gong LH, Zhou NR, Zou WP (2020) Adaptive and blind watermarking scheme based on optimal SVD blocks selection. Multimed Tools Appl 79(1–2):243–261. https://doi.org/10.1007/s11042-019-08074-2
Makbol NM, Khoo BE (2013) Robust blind image watermarking scheme based on redundant discrete wavelet transform and singular value decomposition. AEU - Int. J. Electron. Commun. 67(2):102–112. https://doi.org/10.1016/j.aeue.2012.06.008
Makbol NM, Khoo BE, Rassem TH (2016) Block-based discrete wavelet transform- singular value decomposition image watermarking scheme using human visual system characteristics. IET Image Process 10(1):34–52. https://doi.org/10.1049/iet-ipr.2014.0965
Makbol NM, Khoo BE, Rassem TH, Loukhaoukha K (2017) A new reliable optimized image watermarking scheme based on the integer wavelet transform and singular value decomposition for copyright protection. Inf. Sci. (Ny). 417:381–400. https://doi.org/10.1016/J.INS.2017.07.026
Makbol NM, Khoo BE, Rassem TH, Loukhaoukha K (2017) A new reliable optimized image watermarking scheme based on the integer wavelet transform and singular value decomposition for copyright protection. Inf. Sci. (Ny). 417:381–400. https://doi.org/10.1016/J.INS.2017.07.026
Mehta R, Rajpal N, Vishwakarma VP (2016) Adaptive image watermarking scheme using fuzzy entropy and GA-ELM hybridization in DCT domain for copyright protection. J Signal Process Syst 84(2):265–281. https://doi.org/10.1007/s11265-015-1055-8
Moosazadeh M, Ekbatanifard G (2017) An improved robust image watermarking method using DCT and YCoCg-R color space. Optik (Stuttg) 140:975–988. https://doi.org/10.1016/j.ijleo.2017.05.011
Munoz-Ramirez D-O, Ponomaryov V, Reyes-Reyes R, Kyrychenko V, Pechenin O, Totsky A (2018) A robust watermarking scheme to JPEG compression for embedding a color watermark into digital images, Proceed 2018 IEEE 9th Int Conf Dependable Syst, Services Technol, DESSERT 2018, pp. 619–624, https://doi.org/10.1109/DESSERT.2018.8409206
Murali P, Sankaradass V (2018) An efficient ROI based copyright protection scheme for digital images with SVD and orthogonal polynomials transformation. Optik (Stuttg). 170:242–264. https://doi.org/10.1016/J.IJLEO.2018.04.050
Pan-Pan N, Xiang-Yang W, Yu-Nan L, Hong-Ying Y (2017) A robust color image watermarking using local invariant significant bitplane histogram. Multimed Tools Appl 76(3):3403–3433. https://doi.org/10.1007/s11042-016-3935-8
Parah SA, Ashraf S, Ashraf A (2015) Robustness Analysis of a Digital Image Watermarking Technique for Various Frequency Bands in DCT Domain. Proceedings - 2015 IEEE Int Symposium Nanoelectronic Inform Syst, iNIS 6:57–62. https://doi.org/10.1109/iNIS.2015.41
Parah SA, Sheikh JA, Loan NA, Bhat GM (2016) Robust and blind watermarking technique in DCT domain using inter-block coefficient differencing. Digit Signal Process 53:11–24. https://doi.org/10.1016/J.DSP.2016.02.005
Parah SA, Sheikh JA, Loan NA, Ahad F, Bhat GM (2018) Utilizing neighborhood coefficient correlation: a new image watermarking technique robust to singular and hybrid attacks. Multidimens Syst Signal Process 29(3):1095–1117. https://doi.org/10.1007/s11045-017-0490-z
Parekh M, Bidani S, Santhi V, Spatial Domain Blind Watermarking for Digital Images. In: Progress in Computing, Analytics and Networking, pp. 519–527, 2018.
Pendyala M, Gokhale A (2016) Design of a spatial domain watermarking technique with VLSI implementation. 2016 Conference on Advances in Signal Processing (CASP):498–503. https://doi.org/10.1109/CASP.2016.7746223
Peng Y, Lan H, Yue M, Xue Y (2017) Multipurpose watermarking for vector map protection and authentication. Multimed Tools Appl 77:7239–7259. https://doi.org/10.1007/s11042-017-4631-z
Pourhadi A, Mahdavi-Nasab H (2020) A robust digital image watermarking scheme based on bat algorithm optimization and SURF detector in SWT domain. Multimed Tools Appl 79(29–30):21653–21677. https://doi.org/10.1007/s11042-020-08960-0
Qin C, Ji P, Chang CC, Dong J, Sun X (2018) Non-uniform watermark sharing based on optimal iterative BTC for image tampering recovery. IEEE Multimed 25(3):36–48. https://doi.org/10.1109/MMUL.2018.112142509
Roy S, Pal AK (2017) A blind DCT based color watermarking algorithm for embedding multiple watermarks. AEU - Int. J. Electron. Commun. 72:149–161. https://doi.org/10.1016/J.AEUE.2016.12.003
Sangeetha N, Anita X (2018) Entropy based texture watermarking using discrete wavelet transform. Optik (Stuttg). 160:380–388. https://doi.org/10.1016/J.IJLEO.2018.01.136
Santhi V (2017) Adaptive color image watermarking scheme using Weibull distribution. Intell Techn Signal Process Multimedia Sec 660:453–468
Shahdoosti HR, Salehi M (2018) Transform-based watermarking algorithm maintaining perceptual transparency. IET Image Process 12(5):751–759. https://doi.org/10.1049/iet-ipr.2017.0898
Singh AK (2017) Improved hybrid algorithm for robust and imperceptible multiple watermarking using digital images. Multimed Tools Appl 76(6):8881–8900. https://doi.org/10.1007/s11042-016-3514-z
Singh SP, Bhatnagar G (May 2018) A new robust watermarking system in integer DCT domain. J Vis Commun Image Represent 53:86–101. https://doi.org/10.1016/j.jvcir.2018.03.006
Singh P, Raman B (2017) A secured robust watermarking scheme based on majority voting concept for rightful ownership assertion. Multimed Tools Appl 76(20):21497–21517. https://doi.org/10.1007/s11042-016-4006-x
Singh D, Singh SK (2017) DCT based efficient fragile watermarking scheme for image authentication and restoration. Multimed Tools Appl 76(1):953–977. https://doi.org/10.1007/s11042-015-3010-x
Singh P, Raman B, Roy PP (2017) A multimodal biometric watermarking system for digital images in redundant discrete wavelet transform. Multimed Tools Appl 76(3):3871–3897. https://doi.org/10.1007/s11042-016-4048-0
Soliman MM, Hassanien AE, Onsi HM (2016) An adaptive watermarking approach based on weighted quantum particle swarm optimization. Neural Comput Appl 27(2):469–481. https://doi.org/10.1007/s00521-015-1868-1
Sun L, Xu J, Liu S, Zhang S (2018) A robust image watermarking scheme using Arnold transform and BP neural network. Neural Comput Appl 30(8):2425–2440. https://doi.org/10.1007/s00521-016-2788-4
Takore TT, Kumar PR, Devi GL (2018) A Robust and Oblivious Grayscale Image Watermarking Scheme Based on Edge Detection, SVD, and GA. Proceed 2nd Int Conf Micro-Electronics, Electromagn Telecommun 434:51–61. https://doi.org/10.1007/978-981-10-4280-5
Tareef A, Al-Ani A (2015) A highly secure oblivious sparse coding-based watermarking system for ownership verification. Expert Syst Appl 42(4):2224–2233. https://doi.org/10.1016/J.ESWA.2014.09.055
Thakral S, Manhas P (2019) Image Processing by Using Different Types of Discrete Wavelet Transform. Advan Inform Comput Res:499–507
Thanh TM, Tanaka K, Dung LH, Tai NT, Nam HN (2018) Performance analysis of robust watermarking using linear and nonlinear feature matching. Multimed Tools Appl 77(2):2901–2920. https://doi.org/10.1007/s11042-017-4435-1
Tyagi S, Singh HV, Agarwal R (2017) Image watermarking using genetic algorithm in DCT domain. Proc Int Conf Inven Syst Control ICISC 2017:1–6. https://doi.org/10.1109/ICISC.2017.8068743
Vairaprakash S, Shenbagavalli A (2018) A discrete Rajan transform-based robustness improvement encrypted watermark scheme backed by support vector machine. Comput Electr Eng 70:826–843. https://doi.org/10.1016/J.COMPELECENG.2017.12.029
Vali MH, Aghagolzadeh A, Baleghi Y (Dec. 2018) Optimized watermarking technique using self-adaptive differential evolution based on redundant discrete wavelet transform and singular value decomposition. Expert Syst Appl 114:296–312. https://doi.org/10.1016/J.ESWA.2018.07.004
Veni M, Meyyappan T (2019) Digital image watermark embedding and extraction using oppositional fruit Fly algorithm. Multimed Tools Appl 78:27491–27510. https://doi.org/10.1007/s11042-019-7650-0
Vo P-H, Nguyen T-S, Huynh V-T, Do T-N (2017) A robust hybrid watermarking scheme based on DCT and SVD for copyright protection of stereo images. 2017 4th NAFOSTED Conf Inform Comput Sci, NICS 2017 - Proceed:331–335. https://doi.org/10.1109/NAFOSTED.2017.8108087
Wan W, Liu J, Sun J, Gao D (2016) Improved logarithmic spread transform dither modulation using a robust perceptual model. Multimed Tools Appl 75(21):13481–13502. https://doi.org/10.1007/s11042-015-2853-5
Wan W, Wang J, Xu M, Li J, Sun J, Zhang H (2019) Robust image watermarking based on two-layer visual saliency-induced JND profile. IEEE Access 7:39826–39841. https://doi.org/10.1109/ACCESS.2019.2906912
Yadav N, Singh K (2015) Robust image-adaptive watermarking using an adjustable dynamic strength factor. Signal, Image Video Process 9(7):1531–1542. https://doi.org/10.1007/s11760-013-0607-2
Yadav AK, Mehta R, Kumar R, Vishwakarma VP (2016) Lagrangian twin support vector regression and genetic algorithm based robust grayscale image watermarking. Multimed Tools Appl 75(15):9371–9394. https://doi.org/10.1007/s11042-016-3381-7
Zhou X, Cao C, Ma J, Wang L (2018) Adaptive digital watermarking scheme based on support vector machines and optimized genetic algorithm. Math Probl Eng 2018:1–10. https://doi.org/10.1155/2018/2685739
Zong T, Xiang Y, Guo S, Rong Y (2016) Rank-based image watermarking method with high embedding capacity and robustness. IEEE Access 4:1689–1699. https://doi.org/10.1109/ACCESS.2016.2556723
Acknowledgments
This work was supported by Universiti Malaysia Pahang through the Research Grant Scheme (RDU222709 and UIC221522).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declared that there is no conflict of interest regarding the publication of this research article. All authors certify that they have no affiliations with or involvement in any organization or entity with any financial interest or non-financial interest in the subject matter or materials discussed in this manuscript.
Additional information
Publisher’s note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Ernawan, F., Ariatmanto, D. A recent survey on image watermarking using scaling factor techniques for copyright protection. Multimed Tools Appl 82, 27123–27163 (2023). https://doi.org/10.1007/s11042-023-14447-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11042-023-14447-5