General Antonyms:
* Welcome guest
* Invited person
* Legitimate participant
* Authorized individual
* Member
* Insider
More Specific Antonyms:
* Host (if the interloper is intruding on someone's property)
* Owner (if the interloper is interfering with something belonging to someone else)
* Beneficiary (if the interloper is gaining something unfairly)
The best antonym will depend on the specific situation and the meaning of "interloper" in that context.