Removing background and estimating a unit height of atomic steps from a scanning probe microscopy image using a statistical model

We present a statistical method to remove background and estimate a unit height of atomic steps of an image obtained using a scanning probe microscope. We adopt a mixture model consisting of multiple statistical distributions to describe an image. This statistical approach provides a comprehensive way to subtract a background surface even in the presence of atomic steps as well as to evaluate terrace heights in a single framework. Moreover, it also enables us to extract further quantitative information by introducing additional prior knowledge about the image. An example of this extension is estimating a unit height of atomic steps together with the terrace heights. We demonstrate the capability of our method for a topographic image of a Cu(111) surface taken using a scanning tunneling microscope. The background subtraction corrects all terraces to be parallel to a horizontal plane and the precision of the estimated unit height reaches the order of a picometer. An open-source implementation of our method is available on the web.