Methods for the halftoning of images on multi-level printing devices such as multi-level inkjet printers are presented. Due to the relatively large size of single droplets, halftoning algorithms are still needed. However, since halftoning occurs between the basic levels attainable by printing one, two or several droplets at the same position, artefacts are less visible than in equal resolution bilevel printers. When dithering algorithms are used for the halftoning task, the dither threshold tiles should have oblique orientations so as to make the halftoning artifacts less visible. They should be designed so as to break up the inherent artifacts of variable dot size printers, such as for example continuous lines made up of elongated elliptic dots. Error-diffusion in color space is also appropriate for multi-level halftoning. Visual artifacts can be reduced by introducing dot over dot color inhibiting constraints.
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