Firstly, considering the requirement for time crisis, a gray-level transformation method based on shifting operation is put forward.

首先，根据移动机器人的实时性要求提出了基于移位运算的灰度变换方法。

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Thus, we propose that the blend of a full-color image can be viewed as superposition of two complementary gray - level transformation images.

这样，可将图像的合成看作两幅图像互补的灰度变换的叠加。

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This paper introduces some classical approaches and some other ways such as in direct change detection adding the gray level classification, mending the m canonical transformation method.

本文在介绍经典变化检测方法的基础上，提出了在直接检测方法中加入灰度自动分类的方法，并进一步对M典型变换做改进。

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