However, ImageMagick works, well... magic: $ convert in.png -fill white -fuzz 80% +opaque "#000000" out.png
If the results aren't satisfactory, try tweaking the fuzz value (e.g., 20%). For multiple images, use a for loop: $ for i in *.png; do convert "$i" -fill white -fuzz 20% +opaque "#000000" "$i-out.png"; done
UPDATE 1: Converted a multi-page PDF to individual PNG images for processing via this Automator workflow (before discovering that the first convert command above works equally well on multipage PDFs):
UPDATE 2: Convert color PDF to black and white
/nix | Feb 02, 2018