SAB3R统一3D重建与开放词汇语义分割，实现单次前向生成带语义的点云

We introduce a new task, Map and Locate, which unifies the traditionally distinct objectives of open-vocabulary segmentation - detecting and segmenting object instances based on natural language queries - and 3D reconstruction, the process of estimating a scene's 3D structure from visual inputs. Specifically, Map and Locate involves generating a point cloud from an unposed video and segmenting object instances based on open-vocabulary queries. This task serves as a critical step toward real-world embodied AI applications and introduces a practical task that bridges reconstruction, recognition and reorganization. To tackle this task, we introduce a simple yet effective baseline, which we denote as SAB3R. Our approach builds upon MASt3R, a recent breakthrough in 3D computer vision, and incorporates a lightweight distillation strategy. This method transfers dense, per-pixel semantic features from 2D vision backbones (eg, CLIP and DINOv2) to enhance MASt3R's capabilities. Without introducing any auxiliary frozen networks, our model generates per-pixel semantic features and constructs cohesive point maps in a single forward pass. Compared to separately deploying MASt3R and CLIP, our unified model, SAB3R, achieves superior performance on the Map and Locate benchmark. Furthermore, we evaluate SAB3R on both 2D semantic segmentation and 3D tasks to comprehensively validate its effectiveness.