In this paper, the concept of object-oriented embedding (OOE) is introduced into information hiding in general and particularly to steganography which is the science that involves undetectable communication of secret data in an appropriate multimedia carrier. The proposal takes advantage of computer vision to orient the embedding process. Although, any existing algorithm can benefit from this technique to enhance its performance against steganalysis attacks, however this work also considers a new embedding algorithm in the wavelet domain using the Binary Reflected Gray Code (BRGC). In the realm of information hiding, one wing focuses on robustness, i.e., watermarking, and another wing focuses on imperceptibility, i.e., steganography. This work advocates for a new steganographic model that meets both robustness as well as imperceptibility. Resilience against common steganalysis attacks including the 274-D merged Markov and DCT features while surviving various image processing manipulations are reported. A neural network classifier was trained with features derived from 400 images. Comparisons with existing systems will also be highlighted.