This is really Ben FluffyChicken's chosen specialist subject, but I'll take a stab at it.
As far as I can tell, the main differences between M950 and M951 are a very subtle change to the chainrings. So subtle as to be all but unnoticable. The crank arms are identical I think. Same shade of XTR grey and the same Octalink V1 splines.
The M952 chainset has completely different 9 speed chainrings. They are a tiny bit narrower and look different to the M950 and M951 style rings.
The M952 was also available with a 5 arm spider. So there were FC M952-4 and FC-M952-5 variations to choose from. There was a DH version too.
Again though, the crank arms were the same colour and shape as previous versions. They also still had the shallow splined Octalink V1 bottom bracket fitting.
Some cranks look darker in photos due to the vagaries of photography, lighting conditions and computer screen variations.
EDIT: Along with the M952 groupset, the 5 arm version was also available with the M950 and M951 groupsets. The DH version was first available with the M951 group.
Have a look here: -->
http://www.mombat.org/Shimano.htm