P2-Net: Joint Description and Detection of Local Features for
                  Pixel and Point Matching
        Bing Wang1 , Changhao Chen2 , Zhaopeng Cui3 , Jie Qin4 , Chris Xiaoxuan Lu5 ,
      Zhengdi Yu6 , Peijun Zhao1 , Zhen Dong7 , Fan Zhu8 , Niki Trigoni1 , Andrew Markham1
        1
        University of Oxford 3 Zhejiang University 5 University of Edinburgh 7 Wuhan University
2
   National University of Defense Technology 4 Nanjing University of Aeronautics and Astronautics 6 Durham    ...