I. Introduction
Image segmentation plays a fundamental role in machine vision applications and divides an image into non-overlapping groups so that pixels located in the same region share similar characteristics, while pixels from distinct regions exhibit more differences. Image thresholding represents a popular approach to image segmentation due to its simplicity, robustness, and accuracy [1]. Bi-level thresholding selects a single threshold, whereas multi-level thresholding selects multiple thresholds and represents a challenging task that has attracted much research attention in recent years.