Primary pulmonary diffuse large B‐cell lymphoma is a rare entity. We describe a case of pulmonary lymphoma with multiple nodules mimicking metastases in a treated patient with rheumatoid arthritis. A 73‐year‐old man was diagnosed with rheumatoid arthritis at the age of 30. He was treated with leflunomide. He was followed up for a nontuberculous mycobacterial infection. He underwent percutaneous coronary intervention for acute myocardial infarction at the age of 70. In April 2022, routine follow‐up revealed new‐onset multiple nodules on chest computed tomography (CT). A position emission tomography/CT scan with 18F‐fluorodeoxyglucose showed a low‐high maximum standardized uptake value by multiple nodules. Pathologic examination of a video‐assisted thoracic surgical biopsy revealed pulmonary diffuse large B‐cell lymphoma. Systemic chemotherapy with rituximab, cyclophosphamide, vincristine, and prednisolone reduced and eliminated multiple nodules. Pulmonary lymphoma should be considered as a differential diagnosis in the case of multiple nodules on a chest CT.
This paper describes a novel SLAM (simultaneous localization and mapping) scheme based on scan matching in an environment including various physical properties. In scan matching, localization is performed mainly focusing on the shape information of the environment. However, the localization cannot be performed correctly and matching may fail when a similar shape existing in different places if only the shape information is taken into account. Therefore, we propose a new method to improve the accuracy of scan matching by considering abundant physical features existing in the environment. In this method, it is possible to utilize not only the shape information but also the physical information of the environment as features by measuring such as heat and water sources. Experiment result in the real environment shows that a highly accurate map of the environment can be generated by utilizing this physical information.
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