With the widespread deployment of the Internet of Things (IoT) and distributed sensing systems, visual data are frequently transmitted over bandwidth-limited and unreliable links, where compression and noise degradation are inevitable. This poses significant challenges to secure, imperceptible, and reversible image communication. Existing steganographic methods often suffer from limited reversibility, noticeable statistical distortion, and weak resistance to steganalysis under realistic channel conditions. This paper proposes Rivic, a reversible image hiding framework for robust and secure visual communication. Rivic integrates wavelet-domain multi-frequency modeling, hierarchical spectral refinement, multi-attentive correction, and multi-domain synergistic recovery into an end-to-end invertible network, aiming to enhance embedding stability and noise-resilient reconstruction. Experimental results on ImageNet, COCO, and ImageHide demonstrate that Rivic achieves 34–35 dB PSNR and 0.93–0.95 SSIM in the cover–stego task, yielding a 5–7 dB PSNR improvement over the strongest CNN-based baselines. Under various channel degradations, including additive noise and JPEG compression, Rivic consistently maintains reconstruction quality above 30 dB. Moreover, when evaluated against advanced steganalysis networks such as SRNet, Yedroudj-Net, and SiaSteg-Net, Rivic reduces the average detection accuracy to 0.50–0.62, approaching the level of random guessing. These results indicate that Rivic enables high-fidelity, robust, and secure reversible visual communication in IoT sensing and control systems operating under practical transmission constraints.