A threshold determination method is selected from among a plurality of alternative global thresholding determination methods and, optionally, a local thresholding determination method based on characteristics of a histogram of grayscales values representing an image. When it is determined to use a global thresholding method, a single global binarization threshold value is determined using the selected global thresholding method. Various alternative global binarization threshold values include a predetermined constant, an average value of the two grayscale values, an Otsu method based threshold value, a Newton method based threshold value, and an Otsu method based threshold value based on a truncated version of the histogram. When it is determined to use local thresholding, a plurality of local binarization threshold values are determined corresponding to different non-overlapping blocks of the image. The determined binarization threshold(s) are applied to the gray scale pixel values to obtain a set of binary pixel values.