I. Introduction
Lung cancer represents the primary reason of cancer-related death all over the world. The 2020 Global Cancer Statistics show that lung cancer accounts for approximately 11.4% of 19.3 million new cancer cases and 18% of almost 10.0 million cancer-related deaths in 2020 [1]. Early lung cancer screening provides the best opportunity for a cure and improves the survival rate of patients [2]. The National Lung Screening Trial reports that three annual screenings with low-dose computed tomography (CT) result in 20% lower mortality from lung cancer among high-risk persons than screening with the use of chest radiography [3]. A critical task in CT-based lung cancer screening is the benign-malignant discrimination of lung nodule [4], [5]. To make a correct diagnosis on the malignancy of a lung nodule, radiologists are usually required to read the thoracic CT slice by slice, while this process is highly labor intensive and prone to operator bias [6].