No `sed` needed here; we can use standard `bash` expression of `${file%.pdf}` to strip off the `.pdf` extension
$ ls
about-bar/ about-bar.pdf about-foo/ about-fou.pdf
$ for a in *.pdf
> do
> dir=${a%.pdf}
> if [ -d "$dir" ]
> then
> mv -i "$a" "$dir"
> fi
> done
$ ls
about-bar/ about-foo/ about-fou.pdf
$ ls *
about-fou.pdf
about-bar:
about-bar.pdf
about-foo: