For the security problem of image transmission, using the Markov property of the solution of Kolmogorov equation and the chaos of infinite folding of Iterative Chaotic Map with Infinite Collapses (ICMIC), a symmetrical encryption scheme is proposed to resist encoding attack. First, the transfer probability matrix is generated by setting the coefficient matrix of the Kolmogorov equation and the initial state as the key parameter. Second, the transfer probability matrix is input into ICMIC, and the key sequence is determined by the obtained results. Finally, the ciphertext images are generated by adding the key sequence and the plaintext images. The encryption scheme was entally simulated by the MATLAB program, with ciphertext image information entropy above 7.99, NPCR over 99%, and UACI over 33%.The experimental results show that the encryption scheme has high security and can effectively resist statistical attacks and differential attacks.