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Advances in imaging technologies have led to a high demand for ultracompact, high-resolution image sensors. However, color filter-based image sensors, now miniaturized to deep submicron pixel sizes, face challenges such as low signal-to-noise ratio due to fewer photons per pixel and inherent efficiency limitations from color filter arrays. Here, we demonstrate a freeform metasurface color router that achieves ultracompact pixel sizes while overcoming the efficiency limitations of conventional architectures by splitting and focusing visible light instead of filtering. This development is enabled by a fully differentiable topology optimization framework to maximize the use of the design space while ensuring fabrication feasibility and robustness to fabrication errors. The metasurface can distribute an average of 85% of incident visible light according to the Bayer pattern with a pixel size of 0.6 µm. The device and design methodology enable the compact, high-sensitivity, and high-resolution image sensors for various modern technologies and pave the way for the advanced photonic device design. [ABSTRACT FROM AUTHOR]