Dithering technologies for digital halftoning originate from Roberts' modulation by pseudo-noise. At present, Roberts modulation is not used because of its randomness. However, blue noise dithering methods are now being paid attention to the fastness of algorithms and error diffusion-like image qualities. In this paper, the visual noises and the gray scale reproducibilities by dithering are analyzed back to the Roberts and an improved pseudo-noise is discussed.
Hiroaki Kotera, Hideto Motomura, Teruo Fumoto, "Color Dithering Back to the Roberts' Modulation" in Proc. IS&T 3rd Color and Imaging Conf., 1995, pp 86 - 89, https://doi.org/10.2352/CIC.1995.3.1.art00022