目的：设计一个Transformer模型来解决SLAM中的PnP问题
超过传统的RANSACEPnP算法
损失函数不收敛
提升前端VO特征提取的性能
特征点太中心化，容易检测噪点为特征点
特征点分布均匀，但是鲁棒性不强，容易检测噪点为特征点
稳定
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