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If the background is always solid, you could try using Otsu's binarization method but using histogram with less than 256 bins. Here's the result I got using histogram with 16 bins

If I'm not sure if it's a good solution, but if the background is always solid, you could try using Otsu's binarization method but using histogram with less than 256 bins. Here's the result I got using histogram with 16 bins

I'm not sure if it's a good solution, but if the background is always solid, you could try using Otsu's binarization method but using histogram with less than 256 bins. Here's the result I got using histogram with 16 bins bins