참고

http://www.cv-learn.com/20201227-cvpr2020-slam-malisiewicz/

pairwise matching : https://stackoverflow.com/questions/28192530/pairwise-matching-between-2-sets-of-points

graph network : https://towardsdatascience.com/a-gentle-introduction-to-graph-neural-network-basics-deepwalk-and-graphsage-db5d540d50b3