A model-based printing method and system for generating halftone output images corresponding to gray-scale-coded input signals. Models for individual two-level (e.g., black on white) printer types allow predicted printer error signals to be generated which can be used to modify the gray-scale coded signals in such manner as to produce binary signals which, when applied to the printer, create halftone images of enhanced quality. In an alternative embodiment binary signals are selected which minimize an error function based on the difference between (i) a predicted perceived image corresponding to the gray scale inputs as filtered by an eye-model filter and (ii) the halftone image resulting from filtering of the binary sequence by a filter modeling the printer followed by the eye-model filter.
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