This paper proposes an image encryption scheme based on chaotic system with changeable parameters depending on plain-image. A generalized Arnold map, whose control parameters are changeable and image-dependent during the iteration procedure, is utilized to generate chaotic orbits applied to permute the pixel positions. A diffusion function is also designed to realize the diffusion effect by piece-wise linear chaotic map. In both the permutation process and the diffusion process, the keystreams generated by chaotic maps are all strongly dependent on plain-image, and thereby can improve the encryption security efficiently. The major merits of the proposed image encryption scheme include a huge key space, good statistical nature resisting statistical analysis attack, differential attack, and good resistance against known-plaintext attack and chosen-plaintext attack, etc. Experimental results have been carried out with detailed analysis to show that the proposed scheme can be a potential candidate for practical image encryption.