Weatherproofing Retrieval for Localization with Generative AI and Geometric Consistency

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic consequences on the visual localization accuracy. In this paper, we improve this retrieval step and tailor it to the final localization task. Among the several changes we advocate for, we propose to synthesize variants of the training set images, obtained from generative text-to-image models, in order to automatically expand the training set towards a number of nameable variations that particularly hurt visual localization. After expanding the training set, we propose a training approach that leverages the specificities and the underlying geometry of this mix of real and synthetic images. We experimentally show that those changes translate into large improvements for the most challenging visual localization datasets. Project page: https://europe.naverlabs.com/ret4loc

Key Protected Classification for Collaborative Learning

Large-scale datasets play a fundamental role in training deep learning models. However, dataset collection is difficult in domains that involve sensitive information. Collaborative learning techniques provide a privacy-preserving solution, by enabling training over a number of private datasets that are not shared by their owners. However, recently, it has been shown that the existing collaborative learning frameworks are vulnerable to an active adversary that runs a generative adversarial network (GAN) attack. In this work, we propose a novel classification model that is resilient against such attacks by design. More specifically, we introduce a key-based classification model and a principled training scheme that protects class scores by using class-specific private keys, which effectively hides the information necessary for a GAN attack. We additionally show how to utilize high dimensional keys to improve the robustness against attacks without increasing the model complexity. Our detailed experiments demonstrate the effectiveness of the proposed technique.