Gregory D. Hager
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Gregory D. Hager

Professor of Computer Science

Professor of Mechanical Engineering

Computer Science

Telephone

(410) 516-5521 (Office)

Email

hager@cs.jhu.edu

World Wide Web

Lab

Homepage

Assistant Information

  • Luwanna Spells
    NEB 324B
    (410) 516-6235
    lspells@jhu.edu

    • Awards

    • Best Paper Nomination - IEEE Trans. on Robotics and Automation 1996
    • IEEE Fellow January 01, 2006
    • Medical Image Analysis Best MICCAI Paper Award 2005
    • MICCAI Best Student Paper Award in Computer-Aided Interventions 2005
    • Spie Ultrasonics best paper award 2006
    • Best Paper Nomination - International Symposium on Robotics Research 1989
    • Yale Junior Faculty Fellowship 1995
    • Fullbright Post-doctoral Junior Research Fellowship 1988
    • Rubinoff Dissertation Prize, University of Pennsylvania 1988
    • IBM Graduate Fellowship in Manufacturing and Automation 1986
    • National Science Foundation Graduate Fellowship 1983

    Courses

    • Spring 2006
      CS 600.336 Algorithms for Sensor-Based Robotics
      Undergraduate Students: 9
    • Spring 2006
      CS 600.493/494 Robocup I/II
      Undergraduate Students: 7
      Graduate Students: 2
    • Fall 2006
      CS 600.361/461 Computer Vision
      Undergraduate Students: 12
      Graduate Students: 28
    • Spring 2005
      CS 600.226 Data Structures
      Undergraduate Students: 30
    • Fall 2005
      CS 600.461 Computer Vision
      Undergraduate Students: 23
      Graduate Students: 26
    • Spring 2004
      600.435 ARTIFICIAL INTELLIGENCE & ROBOTICS
    • Spring 2003
      600.441 VISION-BASED INTERACTION FOR MAN AND MACHINE
    • Spring 2003
      600.461 COMPUTER VISION
    • Fall 2002
      cs600.461 Computer Vision

    Education

    • Ph.D Computer Science, University of Pennsylvania, 1988
    • M.S.E. Computer Science, University of Pennsylvania, 1985
    • B.A. Summa Cum Laude , Luther College, Iowa, 1983

    External Interactions

    • Smart Systems Technology Consulting Relationships
    • Strider Labs, Inc., 2001-present Consulting Relationships
    • ABB Inc Consulting Relationships
    • Siemens Consulting Relationships
    • United Technologies Research Center Consulting Relationships
    • Microsoft Inc Consulting Relationships

    Experience

    • Professor of Computer Science (secondary appointment in Mechanical Engineering), Johns Hopkins University . 1999 - Present
    • Deputy Directory, Center for Computer-Integrated Surgical Systems and Technology. 2004 - Present
    • Associate Professor of Computer Science and Electrical Engineering, Yale University. 1996 - 1999
    • Assistant Professor of Computer Science, Yale University. 1991 - 1996
    • Post-doctoral Research Fellow, University of Pennsylvania. 1990
    • Fullbright Fellow, Fraunhofer Inst., IITB & University of Karlsruhe. 1988 - 1990
    • Summer Research Staff, SRI International. 1984
    • Summer Research Staff, IBM T.J. Watson Research Center. 1983

    Grants and Contracts

    • ERC PER: A Quantitative Eye Atlas, National Science Foundation 150,000 Status: Awarded/Active August 01, 2001 - July 31, 2003
    • Software Systems for Vision-based Spatial Interaction, National Science Foundation 450,000 Status: Awarded/Terminated August 01, 2001 - July 31, 2004
    • A Modular Toolkit for Vision and Robotics - An Experiment in Domain-Specific Software Architectures, National Science Foundation 1,223,090 Status: Awarded/Terminated June 01, 1997 - June 01, 2001
    • Scale-Invariant Skill Augmentation for coperative Human-Machine Micromanipulation Systems, National Science Foundation 380,000 Status: Awarded/Terminated August 01, 2001 - July 31, 2004
    • Composition and Adaptation of Goal-Oriented Robotic Systems, DARPA 2,304,083 Status: Awarded/Terminated April 01, 2000 - April 01, 2004
    • Environment-Independent Perception and Navigation for Tactical Mobile Robots: A Diktiometric Approach, DARPA 750,000 Status: Awarded/Terminated June, 1998 - June, 2000
    • A Compositional Approach to Vision-Based Manipulation, National Science Foundation 66,000 Status: Awarded/Terminated June, 1998 - June, 2000
    • Visual Tracking as Stabilization, ARO 270,000 Status: Awarded/Terminated March 01, 1998 - March 01, 2001
    • Next Generation Vision-Based Control Systems, ARO 129,945 Status: Awarded/Terminated March 01, 1997 - March 01, 1998
    • Domain-Independent Vision-Based Navigation, National Science Foundation 419,184 Status: Awarded/Terminated September 01, 1997 - October 31, 2000
    • The Block Island Workshop on Vision and Control, National Science Foundation 14,500 Status: Awarded/Terminated June 01, 1997 - May 30, 1998
    • Point-Man Robot, DARPA 45,000 Status: Awarded/Terminated June 01, 1997 - June 01, 1998
    • Light-Weight Vision for Enhanced Mobility, Siemes Corp 40,000 Status: Awarded/Terminated January 01, 1997 - September 30, 1997
    • Calibration Insensitive Hand-Eye Coordination for Robotic Systems Based on Stereo Vision, National Science Foundation 240,000 Status: Awarded/Terminated August, 1995 - August, 1998
    • Equipment for Sensor-Based Navigation and Control of Autonomous Agents, DARPA 75,000 Status: Awarded/Terminated January 23, 1995 - January 23, 1996
    • Sensor-based and Geometry-based Planning for Autonomous Agents, DARPA 971,489 Status: Awarded/Terminated October 01, 1993 - May 31, 1996
    • Resource-Bounded Sensor-Based Decision Making in Unconstrained Environments, National Science Foundation 170,245 Status: Awarded/Terminated September 01, 1991 - February 28, 1994
    • A Range Finder & Manipulator for Empirical Verification of Sensor-Based Decision Making, National Science Foundation 40,000 Status: Awarded/Terminated May 01, 1991 - February 28, 1993
    • NATO Collaborative Research Grant Between Yale University and the DLR, NATO 5,000 Status: Awarded/Terminated September 01, 1992 - September 01, 1994
    • NATO Collaborative Research Grant Between Yale University and the DLR, NATO 5,000 Status: Awarded/Terminated September 01, 1991 - September 01, 1992
    • Itr: Modeling Synthesis And Analysis Of Human-Machine Collaborative Systems, National Science Foundation 1100000 Status: Awarded/Active October 01, 2002 - September 30, 2008
    • Direct Video-CT Registration for High Precision Endoscopic Interventions, NIH (Phase I SBIR with Infinite Biomedical Tech. Inc.) 275000 Status: Pending
    • SBIR Phase II Crew Activity Analyzer, Foster-Miller Inc. 240286 Status: Awarded/Terminated November 01, 2001 - December 31, 2005
    • A Modular Toolkit For Vision And Experiment In Domain Specific Software Architecture, National Science Foundation 598431 Status: Awarded/Terminated July 01, 1999 - May 31, 2003
    • Precise Robotic Inventions from Intra-Operative Video, National Science Foundation 1,989,615 Status: Pending January 01, 2004 - December 31, 2008
    • Context-Aware Systems for Microsurgical Assistance, National Science Foundation 925,788 Status: In Development September 01, 2003 - August 31, 2007
    • A Flexible "Human-in-the-Loop" Microsystem Assembly Platform, NSF Phase I with Invenios, Inc. 30000 Status: Awarded/Terminated January, 2004 - July 01, 2004
    • Design Methods for Local Registration and Tracking, NSF  Status: Pending
    • Tracking and Mosaicing in the Endometrium, NIH (Phase I SBIR with Infinite Biomedical Tech. Inc.)  Status: Awarded/Active January 26, 2005 - July 26, 2005
    • Vision-Based Tracking for Graphics Interfaces, NIST/Intuitive Surgical 54,000 Status: Awarded/Terminated June 30, 2004 - December 15, 2004
    • Context Aware Surgical Assistance for Virtual Mentoring, TATRC 155,216 Status: Awarded/Active January 31, 2006 - May 29, 2007
    • Structure Induction for manipulative and Interactive Tasks, NSF 480,000 Status: Awarded/Active February 01, 2006 - January 31, 2009
    • Real-Time Tracking and Mosaicing, CISST ERC (NSF) 65,241 Status: Awarded/Terminated October 01, 2005 - September 30, 2006
    • Vision-Aided Guidance, Navigation and Control of Small Unmanned Aerial Vehicles, JHU/APL 50,000 Status: Awarded/Terminated September 01, 2005 - August 31, 2007
    • Learning to See: Structures for Data-Driven Computational Vision on a Massive Scale, Paul Maritz 90,000 Status: Awarded/Active February 01, 2006 - January 31, 2008
    • Direct Video-CT Registration for High Precision Endoscopic Interventions, NIH 440,348 Status: Awarded/Active April 01, 2006 - March 30, 2008
    • Modular Steady–Hand Robot System for Microsurgery – Microsurgical Workstation, CISST ERC (NSF) 236,355 Status: Awarded/Active September 01, 2001 - August 31, 2008
    • Image Guidance for Active Handheld Microsurgical Tools, NIH 69,699 Status: Awarded/Active March 01, 2005 - February 28, 2007
    • Manipulating and Perceiving Simultaneously (MAPS) for Haptic Object Recognition, NSF 200,000 Status: Awarded/Active September 01, 2007 - August 31, 2011
    • LAPUS – STTR Phase 2 , NIH 347,392 Status: Awarded/Active August 15, 2006 - August 14, 2008
    • Stable, Dynamic Vision-Based Control of Mechanical Systems via Spatial Sampling Kernels, NSF 64,927 Status: Awarded/Terminated October 01, 2006 - September 30, 2007
    • Adaptive Motion Compensation for Coronary MR Imaging, NIH 421,909 Status: Pending September 01, 2007 - August 31, 2011
    • Automated Quantitative Assessment of Surgical Skill, NIH 440,512 Status: Pending September 01, 2007 - August 31, 2011
    • Toward Quantitative Disease Assessment from Capsule Endoscopy Images, NIH 421,909 Status: Awarded/Active September 30, 2007 - September 29, 2009

    Other

    • The XVision Tracking Toolkit, 1995, 1996, 1997Software packages
    • A System for Solution of High-Dimensional Nonlinear Constraints, 1993Software package
    • Deputy Director, CISST ERC
    • Advisor, JHU Robocup Team
    • CLSP search committee
    • ICM Search Committee
    • I4M Committee
    • Member, International Affairs Advisory Committtee
    • Active in the Development of JHU/Fraunhofer Collaboration
    • Active in the Development of LCSR

    Presentations

    • Greg Hager: Functional Languages Meet Vision and Robotics: FRP in Action Seminar. Georgia Tech.. April, 2002. (Invited)
    • Gregory Hager: Computer Assisted Surgery: A Laboratory for AI Research Stanford Broad Area Colloquium. Stanford University. November 04, 2006. (Invited)
    • Gregory D. Hager: Progress in Computational Sensing IFAC Workshop on Future Directions in Robotics. Orlando, Florida (with ICRA 2006). April 20, 2006. (Invited)
    • Gregory D. Hager: Robotics@JHU LA Science Center Development Event. Los Anglelos. November 03, 2006. (Invited)
    • Gregory D. Hager: Surgical Assistance Tutorial on Computer-Integrated Surgery. MICCAI. October 01, 2006.

    Professional Activities

    • Editorial Board - IEEE Transactions on Robotics and Automation, 1997-2000.
    • Editorial Board - Pattern Analysis and Application, 1997-present.
    • Program Committee, CVPR 2002
    • CVPR 2004 Program Committee
    • Editorial Board - International Journal of Computer Vision
    • ECCV 2004 Program Committee
    • MICCAI Program Committee
    • CVPR Area Chair
    • Co-Editor, Special Joint Issues of IJRR and IJCV on Vision and Robotics
    • Area organizer, Workshop on Autonomous Manipulation
    • Member, INRIA international review committee for Vision Programs
    • Member, DLR International Review Committee for Robotics
    • Lecturer at the Montpellier Summer School on Medical Robotics
    • Co-organizer, Tutorial on Computer-Integrated Surgery
    • Editorial Board, International Journal of Computer Vision
    • Chair - Computer and Robot Vision Technical Committee of the IEEE Robotics and Automation Society, 1996-2000.
    • Organizer - Tutorial in Vision-Based Robotics, CIRA 2001.
    • Organizer - Dagstuhl Workshop on Sensor-Based Robotics, 2000.
    • Organizer - Tutorial on Dymanic Vision, AAAI 2000.
    • Organizer - Workshop and Tutorials Chair, CVPR 2000.
    • Organizer - Workshop on Robust Vision for Control of Motion, 1998.
    • Organizer - Block Island Workshop on Vision and Control, 1997.
    • Organizer - Tutorial on Visual Control of Motion, 1996.
    • Organizer - Workshop on Visual Servoing, 1994.
    • Editor - Special Issue of the IEEE Transactions on Robotics and Automation on Visual Seroing, 1996.
    • Program Committee Member - International Symposium on Robotics with Applications 2000.
    • Program Committee Member - Vision Algorithms Workshop (with ICVV '99), 1999.
    • Program Committee Member - Third Haskell Workshop (with ICFP '99), 1999.
    • Program Committe Member - IEEE International Conference on Computer Vision and Pattern Recognition 1996-1999.
    • Program Committee Member - International Conference on Computer Vision 1999.
    • Program Committee Member - International Conference on Robotics and Automation 1997, 1999.
    • Program Committee Member - World Manufacturing Congress 1997.
    • Program Committee Member - AAAI Conference 1996.
    • Program Committee Member - International Symposium on Robotics and Manufacturing 1996.
    • Program Committee Member - Multisensor Fusion and Integration for Intelligent Systems 1994, 1996.
    • Program Committee Member - IEEE International Conference on Intelligent Robtics Systems 1994, 1996.
    • Program Committee Member - SPIE Sensor Fusion Workshop 1991-1997.
    • Program Committee Member - Vision Interfaces 2002
    • Program Committee Member - International Conference on Computational Intelligence in Robotics and Automation, 2001
    • Invited Speaker (2000) Keynote Speaker: Multimedia Computing and Networking
    • Invited Speaker (1999) DIMACS Workshop on Computer Vision and Robotics, Rutgers University
    • Invited Speaker (1999) Workshop on Automated Control of Distributed Instrumentation, University of Illinois
    • Invited Speaker (1999) First Annual Computational Neuroscience Symposium, University of Minnesota
    • Invited Speaker (1997) Workshop on Control Problems in Robotics and Automation, CDC
    • Invited Speaker (1995) Joint Slovenia/Austrian Workshop on Computer Vision, Marberg, Slovenia
    • Invited Speaker (1994) Dagstuhl Workshop on the Mathematical Foundations of Vision, Dagstuhl, Germany
    • Invited Speaker (1992) AAAI Spring Symposium, Stanford University
    • Invited Speaker (1992) Allerton Conference, University of Illinois
    • Invited Speaker (1991) Conference on Mathematical Methods of Robotics, Freiberg, Germany
    • Invited Speaker (1989) Annual Stockholm Vision Workshop, Stockholm, Sweden
    • Invited Speaker (1989) German Special Committee Meeting on Robotic Control, Dortmund, Germany
    • National Science Foundation Panel - CISE Postdoctoral Research Associates in Experimental Computer Science
    • National Science Foundation Panel - Career Awards
    • National Science Foundation Panel - Challenges in CISE
    • National Science Foundation Panel - Computer Vision
    • National Science Foundation Panel - "Future Directions in Robotics"
    • National Science Foundation Panel - RHA program panel
    • Consulting - Smart Systems Technology
    • Consulting - ABB Inc.
    • Consulting - Siemens
    • Consulting - United Technologies Research Center
    • Consulting - Microsoft Inc.
    • Consulting - Strider Labs, Inc.

    Research Interests

    • Robotics
    • Computer Vision
    • Medical Robotics
    • Human-Machine Interaction

    Research Capabilities

    • Robot manipulation
    • Computational Stereo
    • Visual tracking
    • Human-machine interaction
    • Mobile Robots

    Publications: All Publications

    1. Hager, G., Dodds, Z.. "Task Specification and Execution for Uncalibrated Hand-Eye Systems". International Journal of Robotics Research
    2. Hager, G. D. Burschka, D. Kriegman. "Vision-Guided Mobile Robot Navigation". IEEE Transactions on Robotics and Automation
    3. Hager, G., I. Pembeci. "A Comparative Review of Robot Programming Languages". Journal of Autonomous Systems
    4. Hager, G., J. Peterson. "A Transformational Approach to Robot Software". IEEE Transactions on Robotics and Automation
    5. Hager, G., P. Belhumeur. "Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illumination". Proceedings of the International Conference on Pattern Analysis and Applications:93-102
    6. Hager, G., W. Feiten, W. Magnussen, K. Toyama. "Modeling and Control for Mobile Manipulation in Everyday Environments". Proceedings of the 1997 International Symposium on Robotics Research
    7. Hager, G.. "Towards Geometric Decision Making in Unstructured Environments". Proceedings of the International Workshop on Intelligent Robots and Systems:1412-1417 (A revised version appears in the proceedings of SPIE, Sensor Fusion IV, 1991)
    8. Hager, G.. "A Comparison of Information-Gathering Approaches". Proceedings of the Symposium on Advances in Intelligent Systems, SPIE, Boston, MA. (Also appears in Proceedings of the first International IARP Workshop on Sensor Fusion, Toulouse, France, 1989)
    9. Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method and System for Cooperative Control of Manipulator Systems". (Preliminary patent filed 2001)
    10. Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen, E. deJuan. "Method for Robot Assisted Puncture of a Blood Vessel". (Preliminary patent filed 2001)
    11. Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method for Creating High Resolution Composite Images". (Preliminary patent filed 2001)
    12. Hager, G., R. Kumar, R. Taylor. "Method for Manipulating Cells of a Cell Culture". (Preliminary patent filed 2001)
    13. Gregory D. Hager. "Human-machine cooperative manipulation with vision-based motion constraints". Workshop on Visual Servoing
    14. Hager, G., R. Bajcsy. "Tactile Information Processing - The Bottom Up Approach". Proceedings of the International Conference on Pattern Recognition (1984):809-811
    15. Hager, G., J. Hobbs et al. "Commonsense Summer: The Final Report". CSLI-85-35. SRI International, Palo Alto, CA (1985)
    16. Hager, G.. "Computational aspects of proof theory in modal logic". Masters thesis. University of Pennsylvania, PA (1985)
    17. Hager, G., M. Mintz. "Searching for Information". Proceedings of Workshop on Spatial Reasoning and Multi-Sensor Fusion. Morgan Kaufmann (1987):313-322
    18. Hager, G.. "An Agent Specification Language". MS-CIS-87-08. University of Pennsylvania, PA (1987)
    19. Hager, G.. "Information Maps for Active Sensor Control". MS-CIS-87-07. University of Pennsylvania, PA (1987)
    20. Hager, G., D. Heeger. "Egomotion and the Stabilized World". Proceedings of the Second International Conference on Computer Vision (1988)
    21. Hager, G., H. Durrant-Whyte. "Information and Multi-Sensor Coordination". Uncertainty in Artificial Intelligence. North-Holland, NY, Edited by J. Lemmer and L, Kanal 2 (1988):381-394
    22. Hager, G., A. Felty. "Explaining Modal Logic Proofs". Proceedings of IEEE Systems, Man, and Cybernetics Conference on Human Computer Interaction (1988)
    23. Hager, G.. "Active Reduction of Uncertainty in Multi-Sensor Systems". Ph.D. thesis. University of Pennsylvania, PA (1988)
    24. Hager, G., M. Mintz. "Estimation Procedures for Robust Sensor Control". Uncertainty in Artificial Intelligence. North-Holland, NY, Edited by L. Kanal, T. Levitt and J. Lemmer 3 (1989):285-301
    25. Hager, G., M. Mintz. "Sensor Modeling and Robust Sensor Fusion". Proceedings of the Fifth International Symposium on Robotics Research. MIT Press, Cambridge, MA (1989)
    26. Hager, G., M. Mintz. "Task-Directed Multi-Sensor Fusion". Proceedings of IEEE Conference on Robotics and Automation (1989):662-667
    27. Hager, G. Task-Directed Sensor Fusion and Planning. Kluwer, Boston, 1990.
    28. Hager, G., Mintz, M. "Automatic Sensor Search and Positioning for Geometric Tasks." Recent Advances in Spatial Reasoning. Ablex, 1990.
    29. Hager, G.. "Deciding not to decide using resource-bounded sensing". Proceedings of the Symposium on Advances in Intelligent Systems. SPIE, Boston, MA (1990)
    30. Hager, G., M. Mintz. "Computational Methods for Task-Directed Sensor Data Fusion and Sensor Planning". International Journal of Robotics and Research 10. 4 (1991):285-313
    31. Hager, G.. "Using Resource-Bounded Sensing in Telerobotics". Proceedings of the Fifth International Conference on Advanced Robotics (1991):199-204
    32. Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". Proceedings of the IEEE International Conference on Robotics and Automation (1991):639-643
    33. Hager, G.. "Set-based estimation: Towards task-directed sensing". Proceedings of Melecon Conference (1991):1205-1209
    34. Hager, G., G. Grunwald. "Sensor Planning for Reactive Robot Programs". Proceedings of the Allerton Conference on Communications, Computing and Control (1992)
    35. Hager, G.. "Constraint Solving Methods and Sensor-Based Decision Making". Proceedings of the 1992 IEEE International Conference on Robotics and Automation (1992):1662-1667
    36. Hager, G., G. Grunwald. "Towards task-directed planning of cooperating sensors". SPIE Sensor Fusion V (1992):214-225
    37. Hager, G.. "A constraint-based view of selective perception". AAAI Spring Symposium on Selective Perception (1992):61-65
    38. Hager, G. "Robust Linear Rules for Nonlinear Systems." Multisensor Fusion for Computer Vision. Springer-Verlag, 1993.
    39. Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". IEEE Transactions on Robotics and Automation 9. 3 (1993):785-800
    40. Hager, G.. "A Review of Active Vision". IEEE Experts 8. 4 (1993)
    41. Hager, G., S. Engelson, S. Atiya. "On Comparing Statistical and Set-Based Methods in Sensor Data Fusion". Proceedings of the 1993 IEEE International Conference on Robotics and Automation (1993):1662-1667
    42. Hager, G., S. Puri, K. Toyama. "A Framework for Real-Time Vision-Based Tracking Using Off-the-Shelf Hardware". DCS-RR-988. Yale University, New Haven, CT (1993)
    43. Hager, G.. "A C++ Interval and Constraint Solving Package". DCS-RR-953. Yale University, New Haven, CT (1993)
    44. Hager, G.. "Some Problems in Adaptive Visual Servoing". DCS-RR-948. Yale University, New Haven, CT (1993)
    45. Hager, G.. "Task-Directed Computation of Qualitative Decisions from Sensor Data". IEEE Transactions on Robotics and Automation 10. 4 (1994):415-429
    46. Hager, G.. "Solving Large Systems of Non-Linear Constraints with Application to Data Modeling". Interval Computations 2. 2 (1994):169-2000
    47. Hager, G., G. Grunwald, G. Hirzinger. "Feature-Based Visual Servoing and its Application to Telerobotics". Proceedings of the 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Computer Society Press (1994):164-171
    48. Hager, G.. "Real-Time Feature Tracking and Projective Invariance as a Basic for Hand-Eye Coordination". Proceedings of the IEEE Conference on Computer Vision and Image Processing (CVPR). IEEE Computer Society Press (1994):533-539
    49. Hager, G., W. Chang, A.S. Morse. "Robot Feedback Control Based on Stereo Vision: Towards Calibration-Free Hand-Eye Coordination". Proceedings of the IEEE International Conference on Robotics and Automation. IEEE Computer Society Press (1994):2850-2856
    50. Hager, G., A. Bendiksen. "A Vision-Based Grasping System for Unfamiliar Planar Objects". Proceedings of the IEEE International Conference on Robotics and Automation. IEEE Computer Society Press (1994):2844-2849
    51. Hager, G.. "Tracking Tools for Vision-Based Navigation". DCS-RR-1060. Yale University, New Haven, CT (1994)
    52. Hager, G.. "Six DOF Visual Control of Relative Position". DCS-RR-1038. Yale University, New Haven, CT (1994)
    53. Hager, G.,Grunwald, G., Toyama, K. . "Feature-Based Visual Servoing and its Application to Telerobotics." Intelligent Robotic Systems. Elsevier, Amsterdam, 1995.
    54. Hager, G., W.Chang, A.S.Morse. "Robot Feedback Control Based on Stereo Vision: Towards Calibraton-Free Hand-Eye Coordination". IEEE Control Systems Magazine 15. 1 (1995):30-39
    55. Hager, G.. "The XVision System: A Paradign for Real-Time Vision". Visual Modules: Proceedings of the 19th OAGM and 1st SDVR Workshop (1995):11-28
    56. Hager, G., D. Kim, A. Rizzi, D. Koditschek. "A "Robust" Convergent Visual Servoing System". Proceedings of the International Conference on Intelligent Robots and Systems I (1995):348-353
    57. Hager, G.. "The "XVision" System: A General Purpose Subtrate for Real-Time Vision-Based Robotics". Proceedings of the Workshop on Vision for Robotics (1995):56-63
    58. Hager, G., K. Toyama. "Distraction-Proof Tracking: Keeping One's Eye on the Ball". Proceedings of the International Conference on Intelligent Robots and Systems I (1995):354-359
    59. Hager, G.. "Calibration-Free Visual Control Using Projective Invariance". Proceedings of the International Conference on Computer Vision (1995):1009-1015
    60. Hager, G., K. Toyama. "Flexible Tools for Hand-Eye Coordination". Proceedings of the International Conference on Robotics and Automation (1995) (Video segment appearing in the proceedings)
    61. Hager, G., K. Toyama. "Tracker fusion for robustness in visual feature tracking". SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Philadelphia, PA 2589 (1995)
    62. Hager, G., S. Hutchinson, P. Corke. "A Tutorial Introduction to Visual Servo Control". IEEE Transactions on Robotics and Automation 12. 5 (1996):651-670 (one of five nominated for best transactions article of 1996)
    63. Hager, G., C-P. Lu , E.J. Mjolsness. "Online Computation of Exterior Orientation with Applications to Hand-Eye Calibration". Mathematical and Computer Modeling 24. 5 (1996):121-143
    64. Hager, G., S. Hutchinson. "Introduction to the Special Section on Vision-Based Control of Robot Manipulators". IEEE Transactions on Robotics and Automation 12. 5 (1996):649-650
    65. Hager, G., J. Son, R. Howe, J. Wang. "Preliminary Results on Grasping With Vision and Touch". Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (1996)
    66. Hager, G., C. Rasmussen. "Robot Navigation Using Image Sequences". Proceedings of the AAAI Conference on Artificial Intelligence (1996):938-943
    67. Hager, G., K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". Proceedings of the IEEE Conference on Computer Vision and Patter Recognition (1996):189-195
    68. Hager, G., P. Belhumeur. "Real-Time Tracking of Image Regions With Changes in Geometry and Illumination". Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (1996):403-410
    69. Hager, G., W.C. Chang, A.S. Morse. "A Calibration-Free, Self-Adjusting Stereo Visual Control System". Proceedings of the 13th IFAC World Congress (1996):343-348
    70. Hager, G., K. Toyama, J. Wang. "SERVOMATIC: A Modular System for Robust Positioning Using Stereo Visual Servoing". Proceedings of the International Conference on Robotics and Automation. IEEE Computer Society Press (1996):2636-2643
    71. Hager, G., K. Toyama. "XVision: Combining Image Warping and Geomatric Constraints for Fast Visual Tracking". Proceedings of the Fourth European Conference on Computer Vision (ECCV '96). Springer-Verlag (1996):507-517
    72. Hager, G.. "A Modular System for Robust Hand-Eye Coordination Using Feedback from Stereo Vision". IEEE Transactions on Robotics and Automation 13. 4 (1997):582-595
    73. Hager, G., P. Corke. "Vision-Based Robot Control". Control Problems in Robotics and Automation. Springer-Verlag Lecture Notes in Control and Information Science 230 (1997):177-190
    74. Hager, G., Z. Dodds. "A Projective Framework for Constructing Accurate Hand-Eye Systems". Proceedings of the IEEE/RSJ/INRIA Workshop On New Trends in Image-Based Robot Servoing (1997):71-82
    75. Hager, G., W-C. Chang, J.P. Hespanha, A.S. Morse. "Task Re-Encoding in Vision-Based Control Systems". Proceedings of the IEEE Conference on Decision and Control (1997)
    76. Hager, G., K. Toyama. "If At First You Don't Succeed.". Proceedings of the AAAI Conference on Artificial Intelligence (1997):3-9
    77. Hager, G., Z. Dodds. "A Color Interest Operator for Landmark-based Navigation". Proceedings of the AAAI Conference on Artificial Intelligence (1997):655-660
    78. Hager, G., D. Kriegman, E. Yeh, C. Rasmussen. "Image-based Prediction of Landmark Features for Mobile Navigation". Proceedings of the International Conference on Robotics and Automation. IEEE Computer Society Press (1997):1040-1046
    79. Hager, G., C. Rasmussen. "Tracking Objects by Color Alone". DCS-RR-1114. Yale University, New Haven, CT (1997)
    80. Hager, G. The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
    81. Hager, G., Kriegman, D., Morse, A.S. "Research Issues in Vision and Control." The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
    82. Hager, G. P. Belhumeur. "Efficient Region Tracking with Parametric Models of Geometry and Illumination". IEEE Transactions on Pattern Analysis and Machine Intelligence 20. 10 (1998):1125-1139
    83. Hager, G. K. Toyama. "The XVision System: A General-Purpose Substrate for Portable Real-Time Vision Applications". Computer Vision and Image Understanding 69. 1 (1998):23-37
    84. Hager, G., K. Toyama. "A Vision-based Six-degree-of-freedom Computer Input Device". U.S. Patent 60/012,761. Nov (1998)
    85. Hager, G., D. Kriegman, A. Georghiades, O. Ben-Shahar. "Toward Domain-Independent Navigation: Dynamic Vision and Control". Proceedings of the IEEE Conference on Decision and Control, special session on active vision (1998)
    86. Hager, G., J. Hespanha, Z. Dodds, A.S. Morse. "Decidability of Robot Positioning Tasks Using Stereo Vision Systems". Proceedings of the IEEE Conference on Decision and Control (1998)
    87. Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Objects Using Multiple Visual Clues". Proceedings of the IEEE International Conference on Intelligent Robots and Systems (1998)
    88. Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". Proceedings of the IEEE International Conference on Computer Vision (1998)
    89. Hager, G., E. Marchand. "Dynamic Sensor Planning in Visual Servoing". Proceedings of the 1998 IEEE International Conference on Robotics and Automation (1998)
    90. Hager, G., J. Hespanha, Z. Dodds. "What Can Be Done With an Uncalibrated Stereo System?". Proceedings of the IEEE International Conference on Robotics and Automation (1998)
    91. Hager, G. and K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". The International Jounrnal of Computer Vision 35. 1 (1999):45-63
    92. Hager, G., and P. Belhumeur. "Tracking 3D: Image Variability Decomposition for Recovering Object Pose and Illumination". Pattern Analysis and Applications (1999)
    93. Hager, G. Robust Vision for Vision-Based Control of Motion. IEEE Computer Society Press, 1999.
    94. Hager, G., Hespanha, J., Dodds, Z., Morse, A.S.. "What Tasks Can Be Performed with an Uncalibrated Stereo Vision System?". International Journal of Computer Vision 35. 1 (1999):65-85
    95. Hager, G., K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". International Journal of Computer Vision 35. 1 (1999):45-63
    96. Hager, G., P. Bellhumeur. "Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illuminations". Pattern Analysis and Applications (1999)
    97. Hager, G., P. Belhumeur, J. Duncan, D. McDermott, A. Morse, S. Zucker. "Computational Vision at Yale". International Journal of Computer Vision 35. 1 (1999):5-12
    98. Hager, G., S-W. Lee, B-J. You. "Model-based 3-D Object Tracking using Projective Invariance". Proceedings of the International Conference on Robotics and Automation (1999)
    99. Hager, G., A. Bendiksen. "Fast 3D Boundary Computation from Occluding Contour Motion". Proceedings of the International Conference on Robotics and Automation (1999)
    100. Hager, G., Z. Dodds, J. Hespanha, A.S. Morse. "Task Specification and Monitoring of Uncalibrated Hand/Eye Coordination". Proceedings of the International Conference on Robotics and Automation (1999):1607-1613
    101. Hager, G., J. Peterson, P. Hudak. "A Language for Declarative Robotic Programming". Proceedings of the International Conference on Robotics and Automation (1999):1144-1151
    102. Hager, G., A. Reid, J. Peterson, P. Hudak. "Prototyping Real-Time Vision Systems: An Experiment in DSL Design". Proceedings of the International Conference on Software Engineering (1999):484-493
    103. Hager, G., Z. Dodds, M. Jagersand, K. Toyama. "A Hierarchical Architecture for Vision-Based Robotic Manipulation Tasks". Proceedings of the International Conference on Vision Systems (1999):312-330
    104. Hager, G., C-P. Lu, E. Mjolsness. "Object Pose from Video Images". PAMI 22. 6 (2000):610-622
    105. Hager, G., J. Peterson. "FROB: A Transformational Approach to the Design of Robot Software". Proceedings of the Ninth International Symposium on Robotics Research. Springer-Verlag (2000):257-264
    106. Hager, G. R. Kumar, A. Barnes, P. Jensen, R. Taylor. "An Augmentation System for Fine Manipulation". Proceedings of Medical Image Computing and Computer Assisted Intervention (2000):956-965
    107. Hager, G., D. Burschka. "Laser-based Position Tracking and Map Generation". Proceedings of RA (2000):149-155
    108. Hager, G.. "On Specifying and Performing Visual Tasks with Qaulitative Object Models". International Conference on Robotics and Automation (2000)
    109. Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". IEEE PAMI 23. 6 (2001):560-576
    110. G. Hager. Sensor-Based Robots. LNCS series, Springer-Verlag, 2001.
    111. Kumar, R., Barnes, A.C., Hager, G.D., Jensen, P.S., Taylor, R.H.. "Applications of Task-Level Augmentation For Cooperative Fine Manipulation Tasks in Surgery". Proceedings of Medical Image Computing and Computer Assisted Intervention (2001)
    112. Berkelman, P., D. Rothbaum, J. Roy, S. Lang, L. Whitcomb, G. Hager, P. Jensen, E. deJuan, R. Taylor, J. Nipako. "Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy". Proceedings of Medical Image Computing and Computer Assisted Intervention (2001)
    113. Hager, G., J. Peterson, A. Serjentov. "Composable Robot Controllers". Proc. CIRA (2001)
    114. Hager, G., J. Peterson, P. Hudack, A. Reid. "FVision: A Declarative Language for Visual Tracking". Proc PADL (2001)
    115. Hager, G., D. Burschka. "Vision-Based Control of Mobile Robots". Proc. International Conference on Robotics and Automation (2001):1707-1713
    116. Hager, G., D. Burschka. "Dymanic composition of tracking primitives for interactive vision-guided navigation". SPIE's Intelligent Systems for Advanced Manufacturing, Boston (2001)
    117. Hager, G., A. Bettini, A. Okamura. "Vision Assisted Control for Manipulation Using Virtual Fixtures". Proc, IROS (2001):1171-1176
    118. Hager, G., R. Kumar, A.C. Barnes, P.S. Jensen, R.H. Taylor. "Applications of Task-Level Augmentation For Cooperative Fine Manipulation Tasks in Surgery". Proceedings of Medical Image Computing and Computer Assisted Intervention (2001)
    119. R. Kumar, G. Hager and R. Taylor. "Task Augmentation for Microsurgical Scale Motion". IEEE Transactions on Robotics and Automation (2002)
    120. Izzet Pembeci, Henrik Nilsson, Darius Burschka, John Peterson, and Gregory D. Hager. "Functional reactive robotics: An exercise in principled integration of domain-specific languages". Proc. PPDP (2002)
    121. A. Bettini, S. Lang, A. Okamura, and G. Hager. "Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales". International Conference on Robotics and Automation (2002)
    122. X. Dai and G. Hager. "pecifying behavior in C++". International Conference on Robotics and Automation (2002)
    123. S. Hundtofte, A. Okamura, and G. Hager. "Building a task language for segmentation and recognition of user input to cooperative manipulation systems". Proc. 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (2002)
    124. D. Burschka and G. Hager. "Stereo-Based Obstacle Avoidance in Indoor Environments with Active Sensor Re-Calibration". International Conference on Robotics and Automation (2002):2066-2072
    125. D. Burschka and G. Hager. "Scene Classification from Dense Disparity Maps in Indoor Environments". Proc. International Conference on Pattern Recognition (2002)
    126. D. Rothbaum, J. Roy, D. Stoianovics, P. Berkelman, G. Hager, R. Taylor, L. Whitcomb, H. Francis, and J. Niparko. "Robot-assisted stapedotomy: Micropick fenestration of the stapes footplate". Otolaryngology - Head and Neck Surgery (2002):417-426
    127. D. Burschka, G. Hager. "V-GPS - Image-Based Control for 3D Guidance Systems". Proc. of IROS (2003):1789-1795
    128. D. Burschka, J. Geiman, and G. Hager. "Optimal Landmark Configuration for Vision-Based Control of Mobile Robots". Proc. of International Conference on Robotics and Automation (ICRA) (2003):3917-3922
    129. Myron Z. Brown, Darius Burschka, and Gregory D. Hager. "Advances in computational stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003)
    130. Darius Burschka, Jeremy Geiman, and Gregory D. Hager. "Optimal Feature Configuration for Vision-Based Control of Mobile Robots". Proc. of International Conference on Robotics and Automation (ICRA) (2003)
    131. Jason Corso, Darius Burschka, and Gregory D. Hager. "Direct Plane Tracking in Stereo Images for Mobile Navigation". Proc. of International Conference on Robotics and Automation (ICRA) (2003)
    132. D. Rothbaum, J. Roy, G. Hager, R. Taylor, L. Whitcomb, H. Francis, and J. Niparko. "performance in stapedotomy: Comparison between surgeons of different experience levels". Otolaryngology - Head and Neck Surgery (2003)
    133. P. Marayong, M. Li, A. Okamura, and G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proc. ICRA (2003)
    134. Izzet Pembeci and Gregory D. Hager. "Functional reactive programming as a hybrid systems framework". Proc. ICRA (2003)
    135. D. Burschka, G. Hager. "Principles and Practice of Real Time Tracking on Consumer Hardware". Tututial 1 at IEEE VR2003: Recent Methods for Image-Based Modeling and Rendering (2003):55-66
    136. J. Corso, D. Burschka, G. Hager. " The 4DT: Unencumbered HCI With VICs". Proceedings of CVPRHCI (2003)
    137. J. Corso, D. Burschka, G. Hager. "Direct Plane Tracking in Stereo Image for Mobile Navigation". Proceedings of International Conference on Robotics and Automation (2003):875-880
    138. G. Ye, J. Corso, D. Burschka, G. Hager. "VICs: A Modular Vision-Based HCI Framework". Proceedings of 3rd International Conference on Computer Vision Systems (2003):257-267
    139. M. Brown, D. Burschka, G. Hager. "Advances in Computational Stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003):993-1008
    140. M. Brown, D. Burschka, G. Hager. "Shape and appearance in object recognition". (2003)
    141. I. Pembeci, G. Hager. "Functional reactive programming as a hybrid systems framework". Proceedings of ICRA (2003)
    142. P. Marayong, M. Li, A. Okamura, G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proceedings of ICRA (2003)
    143. D. Rothbaum, J. Roy, G. Hager, R. Taylor, L. Whitcomb, H. Francis, and J. Niparko. "Task performance in stapedotomy: Comparison between surgeons of different experience levels". Otolaryngology - Head and Neck Surgery (2003)
    144. L. Lu, X. Dai, G. Hager. "Real Time Video Mosaicing - Technical Report". Technical report, The Johns Hopkins University (2003)
    145. J. Corso, N. Ramey, G. Hager. "Stereo-Based Direct Surface Tracking with Deformable Parametric Models". Technical Report 02, The Johns Hopkins University (2003)
    146. G. Ye, J. Corso, G. Hager, A. Okamura. "VisHap: Augmented Reality Combining Haptics and Vision". Proceedings of IEEE International Conference on Systems, Man and Cybernetics (2003):3425-3431
    147. G. Ye, J. Corso, G. Hager, A. Okamura. "Augmented Reality Combining Haptics and Vision". Technical Report 03, The Johns Hopkins University (2003)
    148. D. Burschka and G. Hager. "V-GPS: Vision-Based Guidance Systems based on Natural Landmarks". IEEE Advanced Robotics Journal (2003)
    149. D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. Hager. "Human-Machine Collaborative Systems for Microsurgical Applications". B. Siciliano, O. Khatib, and F.C.A. Groen, editors, In International Symposium on Robotics Research, October 2003. (2003)
    150. D. Kragic and G. Hager. "Task modeling and specification for modular sensory based human-machine cooperative systems". Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 4, pages 3192-3197, October 2003. (2003)
    151. A. Bettini, S. Lang, P. Marayong, A. Okamura and G. Hager. "Vision Assisted Control for Manipulation Using Virtual Fixtures". IEEE Transactions on Robotics and Automation (2004)
    152. D. Burschka and G. Hager. "V-GPS(SLAM): Vision-Based Inertial System for Mobile Robots". ICRA 2004 (2004):409-415
    153. Hager, G., Gennari, G.. "Probabilistic data association methods in visual tracking of groups". CVPR 2004 (2004)
    154. Hager, G., M. Dewan and C. Stewart. "Multiple Kernel Tracking with SSD". CVPR 2004 (2004)
    155. G. Ye, J. Corso, and G. Hager. . "Gesture Recognition Using 3D Appearance and Motion Features. ". Proceedings of CVPRHCI, 2004. (2004)
    156. G. Ye, J. Corso, D. Burschka, and G. Hager.. "Vics: A modular hci framework using spatio-temporal dynamics.". Machine Vision and Applications, 16(1):13-20, 2004. (2004)
    157. J. Corso, M. Dewan, and G. Hager. "Image Segmentation Through Energy Minimization Based Subspace Fusion. ". Proceedings of 17th International Conference on Pattern Recogntion (ICPR 2004), 2004. (2004)
    158. J. Corso, M. Dewan, and G. Hager. "Image Segmentation Through Energy Minimization Based Subspace Fusion.". Technical Report CIRL-TR-04-01, The Johns Hopkins University, 2004. (2004)
    159. N. Ramey, J. Corso, W. Lau, D. Burschka, and G. Hager. "Real Time 3D Surface Tracking and Its Applications". Proceedings of Workshop on Real-time 3D Sensors and Their Use (at CVPR 2004), 2004 (2004)
    160. D. Burschka and G. Hager. "Principle and Practice of Real-Time Visual Tracking for Navigation and Mapping". IEEE Workshop on Robotic Sensing: Robotics in the Automotive Industry, ROSE, 2004. (to appear). (2004)
    161. W. Lau, N. Ramey, J. Corso, N. Thakor, and G. Hager. "Stereo-Based Endoscopic Tracking of Cardiac Surface Deformation". Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 494-501, 2004. (2004)
    162. M. Dewan, P. Marayong, A. Okamura, and G. Hager. "Vision-Based Assistance for Ophthalmic Micro-Surgery". Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 49-57, 2004. (2004)
    163. D. Burschka, M. Li, R. Taylor, and G. Hager. "Scale-Invariant Registration of Monocular Endoscope Images to CT-Scans For Sinus Surgery". Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 413-421, 2004. (2004)
    164. A. Viswanathan, E. Boctor, R. Taylor, G. Hager, and G. Fichtinger. "Immediate Ultrasound Calibration from Two Poses and Minimal Image Processing". Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI) (2004)
    165. E. Boctor, A. Viswanathan, M. Choti, R. Taylor, G. Fichtinger, and G. Hager. "A Novel Closed Form Solution For Ultrasound Calibration". Proceedings of ISBI, 2004 (2004)
    166. D. Burschka, M. Li, R. Taylor, and G. Hager. "Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models". Proceedings of IROS, pages 2581-2586, 2004. (2004)
    167. Le Lu and Gregory Hager. "A Three Tiered Approach for Articulated Object Action Modeling and Recognition". Proc. NIPS (2004)
    168. Le Lu and Gregory Hager. "Efficient Particle Filtering Using RANSAC with Application to 3D Face Tracking". Image and Vision Computing (2004)
    169. J. Corso, G. Hager, and G. Ye,. "Analysis of Multi-Modal Gestures with a Coherent Probabilistic Graphical Model. ". Virtual Reality (2005)
    170. D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. Hager . "Human-Machine Collaborative Systems for Microsurgical Applications". International Journal of Robotics Research 24. 9 (2005)
    171. Darius Burschka, Jason Corso, Maneesh Dewan, Gregory Hager, William Lau, Henry Lin, Panadda Marayong and Nicholas Ramey. "Navigating Inner Space: 3-D Assistance for Minimally Invasive Surgery". Robotics and Autonomous Systems (2005)
    172. Darius Burschka and Gregory Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". Proc. ICRA (2005)
    173. Darius Burschka and Ming Li and Russell Taylor and Gregory D. Hager and Masaru Ishii.. "Scale-Invariant Registration of Monocular Endoscopic Images to CT-Scans for Sinus Surgery". Medical Image Analysis. 9(5) (2005):413-439 (Best Paper Award at MICCAI 2005.)
    174. Jason J. Corso and Guangqi Ye and Gregory D. Hager. "Analysis of Multi-Modal Gestures with a Coherent Probabilistic Graphical Model". Virtual Reality 8(4) (2005):242-252 (The original publication is available at www.springerlink.com)
    175. Le Lu and Gregory D. Hager and Laurent Younes. "A Three Tiered Approach for Articulated Object Action Modeling and Recognition". Advances in Neural Information Processing Systems 17 (2005):841-848
    176. Darius Burschka, Guangqi Ye, Jason J. Corso, and Gregory D. Hager. "A Practical Approach for Integrating Vision-Based Methods into Interactive 2D/3D Applicationsa". The Johns Hopkins University. CIRL Lab Technical Report CIRL-TR-05-01 (2005)
    177. Guangqi Ye, Jason J. Corso, and Gregory D. Hager. "Visual Modeling of Dynamic Gestures Using 3D Appearance and Motion Features." Real-Time Vision for Human-Computer Interaction. Springer-Verlag, 2005. 103-120.
    178. Le Lu and Kentaro Toyama and Gregory D. Hager. " A Two Level Approach for Scene Recognition". IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2005 1 (2005):688-695
    179. Jason J. Corso and Gregory D. Hager. "Coherent Regions for Concise and Stable Image Description". IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2005 2 (2005):184-190
    180. Le Lu and Xiangtian Dai and Gregory D. Hager. "Efficient Particle Filtering Using RANSAC with Application to 3D Face Tracking". Image and Vision Computing FPIV'04 (2005) (Submission for special issue of FPIV'04)
    181. Henry C. Lin, Izhak Shafran, Todd E. Murphy, Allison M. Okamura, David D. Yuh, and Gregory D. Hager. "Automatic Detection and Segmentation of Robot-Assisted Surgical Motions". In MICCAI 2005, LNCS 3749 (2005):802-810 (Best Paper Award at MICCAI 2005)
    182. D. Burschka and G.D. Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". ICRA, 2005 (2005)
    183. Joshua Leven, Darius Burschka, Rajesh Kumar, Gary Zhang, Steve Blumenkranz, Xiangtian (Donald) Dai, Mike Awad, Gregory D. Hager, Mike Marohn, Mike Choti, Christopher J. Hasser and Russell H. Taylor. "DaVinci Canvas: A Telerobotic Surgical System with". MICCAI (2005):811-818
    184. D. Burschka and G.D. Hager. "Vision-based Inspection of Structural Changes respective to Pre-operative CT-Scans with Monocular Endoscope Cameras". CURAC (2005)
    185. E.M. Boctor, I. Iordachita, G. Fichtinger and G. Hager. "Ultrasound Self-Calibration and Real-Time Quality Control for Interventions". Accepted to the IEEE International Ultrasonics Symposium (2005)
    186. E.M. Boctor, I. Iordachita, G. Fichtinger and G. Hager. "Real-Time Quality Control of Tracked Ultrasound". MICCAI 2005, LNCS 3749 (2005):621-630
    187. R. Kon, J. Leven, K. Kothapalli, E.M. Boctor, G. Fichtinger, G.D. Hager and R.H. Taylor. "CIS-UltraCal: An Open-Source Ultrasound Calibration Toolkit". SPIE Medical Imaging 2005: Ultrasonice Imaging and Signal Process, Edited by William F. Walker, Stanislav Y. Emelianov 5750 (2005):516-523
    188. Maneesh Dewan and Gregory D. Hager and Christine H. Lorenz. "Image-Based Tracking and Prediction of Coronary Motion for Coronary MR Angiography". Society for Cardiovascular Magnetic Resonance (SCMR) Ninth Annual Scientific Sessions (2006) (Accepted for poster presentation)
    189. E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
    190. Henry Lin, Izhak Shafran, David D. Yuh and Gregory D. Hager. "Vision-Assisted Automatic Detection and Segmentation of Robot-Assisted Surgical Motions". Medicine Meets Virtual Reality (2006)
    191. P. Marayong, G.D. Hager and A.M. Okamura. "Haptic Virtual Fixtures for Flexible Human-Machine Interfaces". To appear in Symposium on Haptic Interfaces for Virtual Environaments and Teleoperator Systems (2006)
    192. Henry Lin, Maneesh Dewan, Panadda Marayong, James Handa and Gregory D. Hager. "Vision-Based Human-Machine Collaborative System for Ophthalmic Micro-Surgery.". Medicine Meets Virtual Reality (2006)
    193. Maneesh Dewan and Gregory D. Hager and Christine H. Lorenz. "Robust Image-Based Motion Tracking for Coronary MR Angiography". 1st International Workshop on Computer Vision for Intravascular and Intracardiac Imaging (CVII (2006): 171-178
    194. Henry C. Lin, Izhak Shafran, David Yuh, Gregory D. Hager. "Towards Automatic Skill Evaluation: Detection and Segmentation of Robot-Assisted Surgical Motions.". Computer Aided Surgery 11(5) (2006):220-230
    195. Maneesh Dewan and Gregory D. Hager. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition (2006):618-625
    196. Le Lu, Xiangtian Dai and Gregory D. Hager. "Efficient particle filtering using RANSAC with application to 3D face tracking". Image Vision Computing 24. 6 (2006):581-592
    197. Henry C. Lin, Izhak Shafran, David Yuh, Gregory D. Hager. "Towards Automatic Skill Evaluation: Detection and Segmentation of Robot-Assisted Surgical Motions". Computer Aided Surgery 11. 5 (2006):220-230
    198. Maneesh Dewan and Gregory D. Hager.. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition 1 (2006):618-625
    199. Le Lu and Xiang-tian Dai and Gregory D. Hager. "Efficient particle filtering using RANSAC with application to 3D face tracking". Image Vision Computing 24. 6 (2006):581-592
    200. Maneesh Dewan and Gregory D. Hager and and Steven M. Shea and Christine H. Lorenz. "Compensating for Beat-to-Beat Variation in Coronary Motion Improves Image Quality in Coronary MR". International Society for Magnetic Resonance Medicine (ISMRM), 14th Scientific Meeting in Seattle, Washington, USA (2006)-2159
    201. Maneesh Dewan and Gregory D. Hager and Christine H. Lorenz. "Image-Based Tracking and Prediction of Coronary Motion for Coronary MR Angiography". 9th Annual Meeting of the Society for Cardiovascular Magnetic Resonance (SCMR), (2006)
    202. E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
    203. Henry Lin, Izhak Shafran, David D. Yuh and Gregory D. Hager. "Vision-Assisted Automatic Detection and Segmentation of Robot-Assisted Surgical Motions". Medicine Meets Virtual Reality (2006)
    204. Henry Lin, Maneesh Dewan, Panadda Marayong, James Handa and Gregory D. Hager. "Vision-Based Human-Machine Collaborative System for Ophthalmic Micro-Surgery". Medicine Meets Virtual Reality (2006)
    205. P. Marayong, G.D. Hager and A.M. Okamura. "Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces". 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems (2006)
    206. Henry C. Lin, Panadda Marayong, Keith Mills, Ray Karam, Peter Kazanzides, Allison Okamura, Gregory D. Hager. "Portability and Applicability of Virtual Fixtures Across Medical and Manufacturing Tasks". International Conference on Robotics and Automation (ICRA) (2006)
    207. Sharmishtaa Seshamani, William Lau, Gregory D. Hager. "Real-time Endoscopic Mosaicking". MICCAI (2006):355-363
    208. Sharmishtaa Seshamani, Cameron Riviere, James T. Handa, Louis Lobes, Gregory D. Hager. "Visual Measurement of Microsurgical Motion with Application to Robotic Augmentation". Northeast Bioengineering Conference (2006):39-40
    209. E.M. Boctor, M. DeOliviera, M. Choti, R. Ghanem, R.H. Taylor, G. Hager, G. Fichtinger. "Ultrasound Monitoring of Tissue Ablation via Deformation Model and Shape Priors.". Ninth International Conference on Medical Image Computing and Computer-Assisted Intervention. Springer 4191 (2006):405-412
    210. E.M. Boctor, I. Iordachita, G. Fichtinger, G.D. Hager. "Ultrasound Self-Calibration.". Medical Imaging (2006)
    211. Le Lu and Gregory Hager. "Dynamic Foreground/Background Extraction from Images and Video using Random Patches". NIPS (2006)
    212. I. Iordachita, A. Kapoor, B. Mitchell, P. Kazanzides, G. Hager, J. Handa, R. Taylor. "Steady-Hand Manipulator for Retinal Surgery". MICCAI Workshop on Medical Robotics (2006):66-73
    213. Zachary Pezzementi, Gregory D. Hager, Allison Okamura. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". International Conference on Robotics and Automation (2007)
    214. Ben Mitchell, John Koo, M.D., Iulian Iordachita, Peter Kazanzides, Ankur Kapoor, James Handa, M.D., Russell Taylor, Gregory Hager. "Development and Application of a New Steady-Hand Manipulator for Retinal Surgery". International Conference on Robotics and Automation (2007)
    215. Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". MMVR (2007)
    216. Alexandre Krupa, Gabor Fichtinger and Gregory Hager. "Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Serving". International Conference on Robotics and Automation (ICRA) (2007)
    217. B. Vagvolgyi, C. E. Reiley, G. D. Hager, A. W. Levinson, and L. Su. "Toward direct registration of video to computed tomography for intraoperative surgical planning during laparoscopic partial nephrectomy". In World Congress of Endourology, 2007. (2007)
    218. Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". Medicine Meets Virtual Reality (2007)
    219. H. Rivaz, E. Boctor, and G. Fichtinger. "A robust meshing and calibration approach for sensorless freehand 3d ultrasound". In Proceedings of SPIE Medical Imaging 6583 (2007):181-188
    220. Ben Mitchell, John Koo, M.D., Iulian Iordachita, Peter Kazanzides, Ankur Kapoor, James Handa, M.D., Russell Taylor, Gregory Hager. "Development and Application of a New Steady-Hand Manipulator for Retinal Surgery". International Conference on Robotics and Automation (ICRA) (2007):623-629
    221. Alexandre Krupa, Gabor Fichtinger and Gregory Hager. "Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing". nternational Conference on Robotics and Automation (ICRA) (2007):2458-2464
    222. Zachary Pezzementi, Allison Okamura, Gregory D. Hager. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". nternational Conference on Robotics and Automation (ICRA) (2007):1761-1767
    223. M. Dewan, D. Mayhew, A. Greiser, G. D. Hager and C. H. Lorenz. "Image-Based Tracking of Heart Valves for Improved Motion Compensation". Proceedings of the International Society for Magnetic Resonance Medicine (ISMRM) (2007):870
    224. Le Lu and Gregory D. Hager. "A nonparametric treatment for location/segmentation based visual tracking". In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (2007)
    225. Maneesh Dewan, Christine H. Lorenz, and Gregory D. Hager. "Deformable Motion Tracking of Cardiac Structures (DEMOTRACS) for Improved MR Imaging". Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (2007)
    226. H. Rivaz, R. Zellars, G. Hager, G. Fichtinger, and E. Boctor. "Beam steering approach for speckle characterization and out-of-plane motion estimation in real tissue". In Proceedings of IEEE Int. Ultrasonics Symp (2007):781-784
    227. Vinutha Kallem, Maneesh Dewan, John Swensen, Gregory D. Hager, and Noah J. Cowan. "Kernel Based Visual Servoing". IEEE/RSJ International Conference on Intelligent Robots and Systems (2007)
    228. Alexandre Krupa, Gabor Fichtinger and Gregory Hager. "Real-time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual". Proceedings of MICCAI (2007)
    229. Ioana Fleming, Sandrine Voros, Balazs Vagvolgyi, Zachary Pezzementi, James Handa, Russell Taylor, and Gregory Hager. . "Intraoperative visualization of anatomical targets in retinal surgery". IEEE Workshop on Applications of Computer Vision (2008)
    230. C. E. Reiley, H. C. Lin, B. Varadarajan, B. Vagvolgyi, S. Khudanpur, D. D. Yuh, and G. D. Hager. " Automatic recognition of surgical motions using statistical modeling for capturing variability". Medicine Meets Virtual Reality (2008)
    231. H. Wang, M. Ishii, D. Mirota, and G. Hager. "Anatomical reconstruction from endoscopic images: Progress and prognosis of quantitative endoscopy". American Journal of Rhinology (2008)
    232. J. Corso and D. Burschka, and G. Hager. "A Practical Paradigm and Platform for Video-Based Human-Computer Interaction". IEEE Computer (2008)
    233. H. Rivaz, E. Boctor, P. Foroughi, R. Zellars, G. Fichtinger, and G. Hager. " Ultrasound elastography, a dynamic programmimg approach". IEEE Trans. on Medical Imaging (2008)

    Publications: Abstracts

    1. Gregory Hager, Ba