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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The general theories of gray correction methods for the medical ultrasonic image are introduced in this paper, including gray level correction, gray level transformation and histogram correction.

介绍了超声医学图像灰度校正常用方法的基本原理，这些方法主要有灰度级校正、灰度变换及直方图修正。

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The experiment results show that the system can realize infrared image gray level transformation, suppress background and upgrade target in a certain extent.

实验结果表明，该系统能很好地实现红外图形灰度变换，并在一定程度上抑制了背景，提升了目标。

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