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header.stamp should be accessible by message.header.stamp. Similarly, header.frame_id should be accessible by message.header.frame_id.

image_listener.subscribe(function(message) {      
  console.log("image listener event fired");      
  var imagedata = "data:image/jpeg;base64," + message.data;      
  document.getElementById("liveimage").src = imagedata;

  var stamp = message.header.stamp;                     
  var frame_id = message.header.frame_id;
});