Secure passwords is just a tiny subset of non-default passwords. Chances of an average human being being able to come up with a password with enough entropy to be called as secure is pretty low.
> These routers were deliberately placed on the internet by people that knew enough about them to do so.
This means these people knows how to expose the management interface to the internet. It does not mean these people have enough knowledge on securing their devices -- based on their actions, it is more likely that the opposite is true.