We present SCORE, a visual relocalization system that achieves unprecedented map compactness through semantically labeled 3D line maps. SCORE requires only 0.01%-0.1% of the storage needed by structure-based or learning-based baselines, while maintaining practical accuracy and comparable runtime. The key innovation is a novel robust mechanism, Saturated Consensus Maximization (Sat-CM), which generalizes classical Consensus Maximization (CM) by assigning diminishing weights to inlier associations with probabilistic justification. Under extreme outlier ratios (up to 99.5%) arising from one-to-many ambiguity in semantic matching, Sat-CM enables accurate estimation when CM fails. To ensure computational efficiency, we propose an accelerating framework for globally solving Sat-CM formulations and specialize it for the Perspective-n-Lines problem at the core of SCORE.

Abstract The National Institute of Standards and Technology (NIST) has been working on standardization of post-quantum cryptography and is approaching the end of round-3 evaluation of algorithms. Key reuse security evaluation is an important part of algorithm evaluation. In order to evaluate the key reuse security of candidate IND-CPA PKEs, at Eurocrypt’19, B$\breve{\text{a}}$etu et al. proposed a classical key recovery under plaintext checking attack (KR-PCA) which can recover the reused secret keys by querying an oracle thousands of times. However, the method does not work for cryptosystems which shorten ciphertexts by rounding off the low bits, such as round-3 finalists Kyber and Saber. Subsequently, Dumittan and Vaudenay (ACNS’20) and Qin et al. (ASIACRYPT’21) came up with new effective methods, which require carefully constructed queries. In this paper, we propose an automatic method to recover the reused secret keys of IND-CPA PKEs in Kyber and Saber. Instead of constructing queries carefully, our method uses automated search combined with an optimized bruteforce. The effect and cost of the method depend on the specific parameters. In particular, we can recover the secret keys after thousands of queries in all parameter sets, which is comparable with the current best result.

State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range measurements. We prove the excellent property of a two-step scheme, which says we can refine a consistent estimator to be asymptotically efficient by one step of Gauss-Newton iteration. Grounded on this result, we design the GN-ULS estimator, which reduces the computation time significantly compared to previous methods and presents the possibility of using only UWB for real-time state estimation.

The revelations about massive surveillance have created significant interest in algorithm substitution attack (ASA), where an honest implementation of a cryptographic primitive is replaced by a subverted one which can help “big brother" to break cryptographic security while generating output indistinguishable from the honest output. The current known ASAs on public-key cryptography are either dedicated for a type of concrete constructions with specific internal, or restrictive when applying to the real-word cryptographic standards (Ateniese et al., ACM CCS’15; Russell et al., ACM CCS’17; Chen et al., ASIACRYPT’20). In this paper, we first present a practical undetectable substitution for a general randomized algorithm with certain structure such that the randomness can be revealed to the big brother. Then, instantiating this randomized algorithm, we present a series of ASAs on core primitives in public-key cryptography including public-key encryption, key encapsulation mechanism, key exchange, and digital signature. In particular, our ASAs are universal in the sense that they do not rely on the internal description of the underlying cryptographic algorithm. Moreover, our ASAs are also practical since they can affect not only the widely deployed cryptographic standards, but also the ongoing NIST post-quantum standards.