The abstract of the RFC is:
This specification registers a kind of URI that represents a JSON Web Key (JWK) Thumbprint value. JWK Thumbprints are defined in RFC 7638. This enables JWK Thumbprints to be used, for instance, as key identifiers in contexts requiring URIs.
The need for this arose during specification work in the OpenID Connect working group. In particular, JWK Thumbprint URIs are used as key identifiers that can be syntactically distinguished from other kinds of identifiers also expressed as URIs in the Self-Issued OpenID Provider v2 specification.