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Euclidean distance transformation (EDT) is used to convert a digital binary image consisting of object (foreground) and nonobject (background) pixels into another image where each pixel has a value of the minimum Euclidean distance from nonobject pixels. In this paper, the improved iterative erosion algorithm is proposed to avoid the redundant calculations in the iterative erosion algorithm. Furthermore, to avoid the iterative operations, the two-scan-based algorithm by a deriving approach is developed for achieving EDT correctly and efficiently in a constant time. Besides, we discover when obstacles appear in the image, many algorithms cannot achieve the correct EDT except our two-scan-based algorithm. Moreover, the two-scan-based algorithm does not require the additional cost of preprocessing or relative-coordinates recording.