Segmentation of lung tissue in computed tomography (CT) images is a precursor to most pulmonary image analysis applications. Semantic segmentation methods using deep learning have exhibited top-tier performance in recent years. This paper presents a fully automatic method for identifying the lungs in three-dimensional (3D) pulmonary CT images, which we call it Lung-Net. We conjectured that a significant deeper network with inceptionV3 units can achieve a better feature representation of lung CT images without increasing the model complexity in terms of the number of trainable parameters. The method has three main advantages. First, a U-Net architecture with InceptionV3 blocks is developed to resolve the problem of performance degradation and parameter overload. Then, using information from consecutive slices, a new data structure is created to increase generalization potential, allowing more discriminating features to be extracted by making data representation as efficient as possible. Finally, the robustness of the proposed segmentation framework was quantitatively assessed using one public database to train and test the model (LUNA16) and two public databases (ISBI VESSEL12 challenge and CRPF dataset) only for testing the model; each database consists of 700, 23, and 40 CT images, respectively, that were acquired with a different scanner and protocol. Based on the experimental results, the proposed method achieved competitive results over the existing techniques with Dice coefficient of 99.7, 99.1, and 98.8 for LUNA16, VESSEL12, and CRPF datasets, respectively. For segmenting lung tissue in CT images, the proposed model is efficient in terms of time and parameters and outperforms other state-of-the-art methods. Additionally, this model is publicly accessible via a graphical user interface.

对于移动机器人来说，自主行驶安全性的能力，尤其是在动态环境中的能力至关重要。近年来，DRL方法在避免动态障碍物方面表现出了出色的表现。但是，这些基于学习的方法通常是在专门设计的仿真环境中开发的，并且很难针对传统的计划方法进行测试。此外，这些方法将这些方法的集成和部署到真正的机器人平台中尚未完全解决。在本文中，我们介绍了Arena-Bench，这是一套基准套件，可在3D环境中在不同机器人平台上进行训练，测试和评估导航计划者。它提供了设计和生成高度动态评估世界，场景和自动导航任务的工具，并已完全集成到机器人操作系统中。为了展示我们套件的功能，我们在平台上培训了DRL代理，并将其与各种相关指标上的各种现有基于模型和学习的导航方法进行了比较。最后，我们将方法部署到了真实的机器人方面，并证明了结果的可重复性。该代码可在github.com/ignc-research/arena-bench上公开获得。