PixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimation

Images composed of 2D pixel arrays are the standard input to computer vision algorithms, yet many underlying computations can be distributed across pixels. Transmitting raw, redundant, and noisy pixel data off the sensor remains inefficient, motivating a shift toward focal-plane sensor-processors that perform a significant part of the computation directly within each pixel. We envision pixels synthesizing higher-level signals locally, reducing downstream load, and providing richer inputs for higher-level vision tasks. We propose a fully parallelizable form of visual odometry and depth estimation across pixels, where sensor-processors exchange information through Gaussian Belief Propagation (GBP) to achieve consensus about camera motion and infer depth from per-pixel photometric observations and a surface normal prior. To maintain geometric stability during optimization, we introduce a keyframe-like anchoring mechanism that regulates the effective baseline between frames, enabling consistent motion and depth updates. Our method is evaluated on realistic datasets, demonstrating the feasibility of GBP-based pixel-level distributed odometry and depth estimation with keyframe anchoring on-sensor. Project Page: https://www.shinjeongkim.com/pixvod/

MLP Splatting: Object-Centric Neural Fields

3D representations are fundamental to scene rendering, understanding, and interaction. Recent approaches, such as 3D Gaussian Splatting and Neural Radiance Fields, achieve impressive photorealistic novel-view synthesis, but lack the ability to easily decompose scene elements into a few primitives, requiring additional segmentation or grouping for object-level manipulation. We present MLP-Splatting, a method that enables scene decomposition via a few expressive light-field primitives while providing photorealistic novel-view synthesis. MLP-Splatting models each primitive as an independent compact MLP with localized spatial support that predicts radiance and opacity. In contrast to low-level Gaussian primitives or a single global radiance field, our neural primitives provide greater expressive capacity while remaining spatially localized. Rendering is performed through efficient sparse volumetric compositing over ray-primitive interactions. Our primitives are supervised using RGB supervision alone, which yields primitives that represent local scene regions often corresponding to objects or object parts, enabling interactive object-level editing without segmentation masks by selecting a handful of primitives. Our method, augmented with optional semantic feature distillation, enables open-vocabulary scene interaction and open-set instant segmentation. Compared to state-of-the-art methods, we achieve substantially lower memory usage (1/15$\times$) and faster rendering (3$\times$), as we show in our experiments compared to semantic 3DGS methods. Project Page: https://shinjeongkim.com/mlp-splatting

Learning to Make Keypoints Sub-Pixel Accurate

This work addresses the challenge of sub-pixel accuracy in detecting 2D local features, a cornerstone problem in computer vision. Despite the advancements brought by neural network-based methods like SuperPoint and ALIKED, these modern approaches lag behind classical ones such as SIFT in keypoint localization accuracy due to their lack of sub-pixel precision. We propose a novel network that enhances any detector with sub-pixel precision by learning an offset vector for detected features, thereby eliminating the need for designing specialized sub-pixel accurate detectors. This optimization directly minimizes test-time evaluation metrics like relative pose error. Through extensive testing with both nearest neighbors matching and the recent LightGlue matcher across various real-world datasets, our method consistently outperforms existing methods in accuracy. Moreover, it adds only around 7 ms to the time of a particular detector. The code is available at https://github.com/KimSinjeong/keypt2subpx .

Exploring Pixel-level Self-supervision for Weakly Supervised Semantic Segmentation

Existing studies in weakly supervised semantic segmentation (WSSS) have utilized class activation maps (CAMs) to localize the class objects. However, since a classification loss is insufficient for providing precise object regions, CAMs tend to be biased towards discriminative patterns (i.e., sparseness) and do not provide precise object boundary information (i.e., impreciseness). To resolve these limitations, we propose a novel framework (composed of MainNet and SupportNet.) that derives pixel-level self-supervision from given image-level supervision. In our framework, with the help of the proposed Regional Contrastive Module (RCM) and Multi-scale Attentive Module (MAM), MainNet is trained by self-supervision from the SupportNet. The RCM extracts two forms of self-supervision from SupportNet: (1) class region masks generated from the CAMs and (2) class-wise prototypes obtained from the features according to the class region masks. Then, every pixel-wise feature of the MainNet is trained by the prototype in a contrastive manner, sharpening the resulting CAMs. The MAM utilizes CAMs inferred at multiple scales from the SupportNet as self-supervision to guide the MainNet. Based on the dissimilarity between the multi-scale CAMs from MainNet and SupportNet, CAMs from the MainNet are trained to expand to the less-discriminative regions. The proposed method shows state-of-the-art WSSS performance both on the train and validation sets on the PASCAL VOC 2012 dataset. For reproducibility, code will be available publicly soon.