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

Fall 2008
CS 600.361/461 Computer Vision
Undergraduate Students: 1
Graduate Students: 25
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
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
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 1,100,000 Status: Awarded/Terminated 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, 2010
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/Terminated September 01, 2001 - August 31, 2008
Image Guidance for Active Handheld Microsurgical Tools, NIH 197,267 total Status: Awarded/Active August 01, 2006 - July 31, 2008
Manipulating and Perceiving Simultaneously (MAPS) for Haptic Object Recognition, NSF 200,000 Status: Awarded/Active September 01, 2007 - June 30, 2009
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 July 01, 2006 - June 30, 2009
The Billion Image Database, Paul Martiz Faculty Innovation Fund 125000 Status: Awarded/Terminated April 01, 2006 - March 31, 2008
Quantitative Endoscopic Measurement of Anatomy, NIH 231,142 Status: Awarded/Active July 01, 2008 - June 30, 2010
A Microsurgical Assistant System, NIH BRP 5,885,314 Status: Awarded/Active July 20, 2007 - June 30, 2009
Precisely Shaped Acoustic Ablation of Tumers Under 3D Ultrasound Image Guidances, NIH SBIR 1,022,500 Status: Awarded/Active July 01, 2008 - June 20, 2013
Algorithms for Real-Time Measurement of Tissue Properties with Interventional Ultrasound, NIH 1,766,596 Status: Pending July 01, 2009 - June 30, 2014
II-NEW: A Facility for Large-Scale Video Acquisition, Graphical Display, and Human-Computer Interaction Research, NSF 734,275 Status: Pending July 01, 2009 - July 01, 2012
CAD for Barrett's Esophagus, JHU Internal Funds 68,000 Status: Awarded/Active June 01, 2008 - December 31, 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

Gregory D. Hager: Computer Vision in Medicine NIH Colloquium. NIH, Bethesda. December 12, 2008. (Invited)
Gregory D. Hager: Computer Vision in Medicine Stanford GRAIL Colloquium. Stanford University. November 18, 2008. (Invited)
Gregory D. Hager: Mining Digital Video Data for Medical Applications I4M Talk. November 05, 2008. (Invited)
Gregory D. Hager: Endoscopic Computer-Aided Diagnosis for Medicine Industry Talk. STI Medical, Honolulu. May 09, 2008. (Invited)
Gregory D. Hager: Future Directions in Surgical Assistance Keck New Frontiers in Medicine and Surgery. Irvine. April 23, 2008. (Invited)
Gregory Hager: Computer Assisted Surgery: A Laboratory for AI Research Stanford Broad Area Colloquium. Stanford University. November 04, 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.
Gregory D. Hager: Progress in Computational Sensing IFAC Workshop on Future Directions in Robotics. Orlando, Florida (with ICRA 2006). April 20, 2006. (Invited)
Greg Hager: Functional Languages Meet Vision and Robotics: FRP in Action Seminar. Georgia Tech.. April, 2002. (Invited)

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
Associate Editor, IEEE PAMI
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

Hager, G., Dodds, Z.. "Task Specification and Execution for Uncalibrated Hand-Eye Systems". International Journal of Robotics Research
Hager, G. D. Burschka, D. Kriegman. "Vision-Guided Mobile Robot Navigation". IEEE Transactions on Robotics and Automation
Hager, G., I. Pembeci. "A Comparative Review of Robot Programming Languages". Journal of Autonomous Systems
Hager, G., J. Peterson. "A Transformational Approach to Robot Software". IEEE Transactions on Robotics and Automation
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
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
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)
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)
Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method and System for Cooperative Control of Manipulator Systems". (Preliminary patent filed 2001)
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)
Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method for Creating High Resolution Composite Images". (Preliminary patent filed 2001)
Hager, G., R. Kumar, R. Taylor. "Method for Manipulating Cells of a Cell Culture". (Preliminary patent filed 2001)
Gregory D. Hager. "Human-machine cooperative manipulation with vision-based motion constraints". Workshop on Visual Servoing
Kazanzides, P., G. Fichtinger, G.D. Hager, A.M. Okamura, L.L. Whitcomb, and R.H. Taylor. "Surgical and Interventional Robotics-Core Concpets, Technology, and Design". IEEE Robotics & Automation Magazine 15. 2 (122):130
Hager, G., R. Bajcsy. "Tactile Information Processing - The Bottom Up Approach". Proceedings of the International Conference on Pattern Recognition (1984):809-811
Hager, G., J. Hobbs et al. "Commonsense Summer: The Final Report". CSLI-85-35. SRI International, Palo Alto, CA (1985)
Hager, G.. "Computational aspects of proof theory in modal logic". Masters thesis. University of Pennsylvania, PA (1985)
Hager, G., M. Mintz. "Searching for Information". Proceedings of Workshop on Spatial Reasoning and Multi-Sensor Fusion. Morgan Kaufmann (1987):313-322
Hager, G.. "An Agent Specification Language". MS-CIS-87-08. University of Pennsylvania, PA (1987)
Hager, G.. "Information Maps for Active Sensor Control". MS-CIS-87-07. University of Pennsylvania, PA (1987)
Hager, G., D. Heeger. "Egomotion and the Stabilized World". Proceedings of the Second International Conference on Computer Vision (1988)
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
Hager, G., A. Felty. "Explaining Modal Logic Proofs". Proceedings of IEEE Systems, Man, and Cybernetics Conference on Human Computer Interaction (1988)
Hager, G.. "Active Reduction of Uncertainty in Multi-Sensor Systems". Ph.D. thesis. University of Pennsylvania, PA (1988)
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
Hager, G., M. Mintz. "Sensor Modeling and Robust Sensor Fusion". Proceedings of the Fifth International Symposium on Robotics Research. MIT Press, Cambridge, MA (1989)
Hager, G., M. Mintz. "Task-Directed Multi-Sensor Fusion". Proceedings of IEEE Conference on Robotics and Automation (1989):662-667
Hager, G. Task-Directed Sensor Fusion and Planning. Kluwer, Boston, 1990.
Hager, G., Mintz, M. "Automatic Sensor Search and Positioning for Geometric Tasks." Recent Advances in Spatial Reasoning. Ablex, 1990.
Hager, G.. "Deciding not to decide using resource-bounded sensing". Proceedings of the Symposium on Advances in Intelligent Systems. SPIE, Boston, MA (1990)
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
Hager, G.. "Using Resource-Bounded Sensing in Telerobotics". Proceedings of the Fifth International Conference on Advanced Robotics (1991):199-204
Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". Proceedings of the IEEE International Conference on Robotics and Automation (1991):639-643
Hager, G.. "Set-based estimation: Towards task-directed sensing". Proceedings of Melecon Conference (1991):1205-1209
Hager, G., G. Grunwald. "Sensor Planning for Reactive Robot Programs". Proceedings of the Allerton Conference on Communications, Computing and Control (1992)
Hager, G.. "Constraint Solving Methods and Sensor-Based Decision Making". Proceedings of the 1992 IEEE International Conference on Robotics and Automation (1992):1662-1667
Hager, G., G. Grunwald. "Towards task-directed planning of cooperating sensors". SPIE Sensor Fusion V (1992):214-225
Hager, G.. "A constraint-based view of selective perception". AAAI Spring Symposium on Selective Perception (1992):61-65
Hager, G. "Robust Linear Rules for Nonlinear Systems." Multisensor Fusion for Computer Vision. Springer-Verlag, 1993.
Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". IEEE Transactions on Robotics and Automation 9. 3 (1993):785-800
Hager, G.. "A Review of Active Vision". IEEE Experts 8. 4 (1993)
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
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)
Hager, G.. "A C++ Interval and Constraint Solving Package". DCS-RR-953. Yale University, New Haven, CT (1993)
Hager, G.. "Some Problems in Adaptive Visual Servoing". DCS-RR-948. Yale University, New Haven, CT (1993)
Hager, G.. "Task-Directed Computation of Qualitative Decisions from Sensor Data". IEEE Transactions on Robotics and Automation 10. 4 (1994):415-429
Hager, G.. "Solving Large Systems of Non-Linear Constraints with Application to Data Modeling". Interval Computations 2. 2 (1994):169-2000
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
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
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
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
Hager, G.. "Tracking Tools for Vision-Based Navigation". DCS-RR-1060. Yale University, New Haven, CT (1994)
Hager, G.. "Six DOF Visual Control of Relative Position". DCS-RR-1038. Yale University, New Haven, CT (1994)
Hager, G.,Grunwald, G., Toyama, K. . "Feature-Based Visual Servoing and its Application to Telerobotics." Intelligent Robotic Systems. Elsevier, Amsterdam, 1995.
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
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
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
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
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
Hager, G.. "Calibration-Free Visual Control Using Projective Invariance". Proceedings of the International Conference on Computer Vision (1995):1009-1015
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)
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)
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)
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
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
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)
Hager, G., C. Rasmussen. "Robot Navigation Using Image Sequences". Proceedings of the AAAI Conference on Artificial Intelligence (1996):938-943
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
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
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
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
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
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
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
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
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)
Hager, G., K. Toyama. "If At First You Don't Succeed.". Proceedings of the AAAI Conference on Artificial Intelligence (1997):3-9
Hager, G., Z. Dodds. "A Color Interest Operator for Landmark-based Navigation". Proceedings of the AAAI Conference on Artificial Intelligence (1997):655-660
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
Hager, G., C. Rasmussen. "Tracking Objects by Color Alone". DCS-RR-1114. Yale University, New Haven, CT (1997)
Hager, G. The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
Hager, G., Kriegman, D., Morse, A.S. "Research Issues in Vision and Control." The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
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
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
Hager, G., K. Toyama. "A Vision-based Six-degree-of-freedom Computer Input Device". U.S. Patent 60/012,761. Nov (1998)
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)
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)
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)
Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". Proceedings of the IEEE International Conference on Computer Vision (1998)
Hager, G., E. Marchand. "Dynamic Sensor Planning in Visual Servoing". Proceedings of the 1998 IEEE International Conference on Robotics and Automation (1998)
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)
Hager, G. and K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". The International Jounrnal of Computer Vision 35. 1 (1999):45-63
Hager, G., and P. Belhumeur. "Tracking 3D: Image Variability Decomposition for Recovering Object Pose and Illumination". Pattern Analysis and Applications (1999)
Hager, G. Robust Vision for Vision-Based Control of Motion. IEEE Computer Society Press, 1999.
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
Hager, G., K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". International Journal of Computer Vision 35. 1 (1999):45-63
Hager, G., P. Bellhumeur. "Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illuminations". Pattern Analysis and Applications (1999)
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
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)
Hager, G., A. Bendiksen. "Fast 3D Boundary Computation from Occluding Contour Motion". Proceedings of the International Conference on Robotics and Automation (1999)
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
Hager, G., J. Peterson, P. Hudak. "A Language for Declarative Robotic Programming". Proceedings of the International Conference on Robotics and Automation (1999):1144-1151
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
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
Hager, G., C-P. Lu, E. Mjolsness. "Object Pose from Video Images". PAMI 22. 6 (2000):610-622
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
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
Hager, G., D. Burschka. "Laser-based Position Tracking and Map Generation". Proceedings of RA (2000):149-155
Hager, G.. "On Specifying and Performing Visual Tasks with Qaulitative Object Models". International Conference on Robotics and Automation (2000)
Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". IEEE PAMI 23. 6 (2001):560-576
G. Hager. Sensor-Based Robots. LNCS series, Springer-Verlag, 2001.
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)
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)
Hager, G., J. Peterson, A. Serjentov. "Composable Robot Controllers". Proc. CIRA (2001)
Hager, G., J. Peterson, P. Hudack, A. Reid. "FVision: A Declarative Language for Visual Tracking". Proc PADL (2001)
Hager, G., D. Burschka. "Vision-Based Control of Mobile Robots". Proc. International Conference on Robotics and Automation (2001):1707-1713
Hager, G., D. Burschka. "Dymanic composition of tracking primitives for interactive vision-guided navigation". SPIE's Intelligent Systems for Advanced Manufacturing, Boston (2001)
Hager, G., A. Bettini, A. Okamura. "Vision Assisted Control for Manipulation Using Virtual Fixtures". Proc, IROS (2001):1171-1176
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)
R. Kumar, G. Hager and R. Taylor. "Task Augmentation for Microsurgical Scale Motion". IEEE Transactions on Robotics and Automation (2002)
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)
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)
X. Dai and G. Hager. "pecifying behavior in C++". International Conference on Robotics and Automation (2002)
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)
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
D. Burschka and G. Hager. "Scene Classification from Dense Disparity Maps in Indoor Environments". Proc. International Conference on Pattern Recognition (2002)
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
D. Burschka, G. Hager. "V-GPS - Image-Based Control for 3D Guidance Systems". Proc. of IROS (2003):1789-1795
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
Myron Z. Brown, Darius Burschka, and Gregory D. Hager. "Advances in computational stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003)
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)
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)
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)
P. Marayong, M. Li, A. Okamura, and G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proc. ICRA (2003)
Izzet Pembeci and Gregory D. Hager. "Functional reactive programming as a hybrid systems framework". Proc. ICRA (2003)
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
J. Corso, D. Burschka, G. Hager. " The 4DT: Unencumbered HCI With VICs". Proceedings of CVPRHCI (2003)
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
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
M. Brown, D. Burschka, G. Hager. "Advances in Computational Stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003):993-1008
M. Brown, D. Burschka, G. Hager. "Shape and appearance in object recognition". (2003)
I. Pembeci, G. Hager. "Functional reactive programming as a hybrid systems framework". Proceedings of ICRA (2003)
P. Marayong, M. Li, A. Okamura, G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proceedings of ICRA (2003)
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)
L. Lu, X. Dai, G. Hager. "Real Time Video Mosaicing - Technical Report". Technical report, The Johns Hopkins University (2003)
J. Corso, N. Ramey, G. Hager. "Stereo-Based Direct Surface Tracking with Deformable Parametric Models". Technical Report 02, The Johns Hopkins University (2003)
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
G. Ye, J. Corso, G. Hager, A. Okamura. "Augmented Reality Combining Haptics and Vision". Technical Report 03, The Johns Hopkins University (2003)
D. Burschka and G. Hager. "V-GPS: Vision-Based Guidance Systems based on Natural Landmarks". IEEE Advanced Robotics Journal (2003)
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)
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)
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)
D. Burschka and G. Hager. "V-GPS(SLAM): Vision-Based Inertial System for Mobile Robots". ICRA 2004 (2004):409-415
Hager, G., Gennari, G.. "Probabilistic data association methods in visual tracking of groups". CVPR 2004 (2004)
Hager, G., M. Dewan and C. Stewart. "Multiple Kernel Tracking with SSD". CVPR 2004 (2004)
G. Ye, J. Corso, and G. Hager. . "Gesture Recognition Using 3D Appearance and Motion Features. ". Proceedings of CVPRHCI, 2004. (2004)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
Le Lu and Gregory Hager. "A Three Tiered Approach for Articulated Object Action Modeling and Recognition". Proc. NIPS (2004)
Le Lu and Gregory Hager. "Efficient Particle Filtering Using RANSAC with Application to 3D Face Tracking". Image and Vision Computing (2004)
J. Corso, G. Hager, and G. Ye,. "Analysis of Multi-Modal Gestures with a Coherent Probabilistic Graphical Model. ". Virtual Reality (2005)
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)
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)
Darius Burschka and Gregory Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". Proc. ICRA (2005)
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.)
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)
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
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)
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.
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
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
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)
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)
D. Burschka and G.D. Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". ICRA, 2005 (2005)
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
D. Burschka and G.D. Hager. "Vision-based Inspection of Structural Changes respective to Pre-operative CT-Scans with Monocular Endoscope Cameras". CURAC (2005)
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)
E.M. Boctor, I. Iordachita, G. Fichtinger and G. Hager. "Real-Time Quality Control of Tracked Ultrasound". MICCAI 2005, LNCS 3749 (2005):621-630
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
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)
E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
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)
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)
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)
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
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
Maneesh Dewan and Gregory D. Hager. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition (2006):618-625
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
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
Maneesh Dewan and Gregory D. Hager.. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition 1 (2006):618-625
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
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
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)
E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
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)
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)
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)
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)
Sharmishtaa Seshamani, William Lau, Gregory D. Hager. "Real-time Endoscopic Mosaicking". MICCAI (2006):355-363
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
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
E.M. Boctor, I. Iordachita, G. Fichtinger, G.D. Hager. "Ultrasound Self-Calibration.". Medical Imaging (2006)
Le Lu and Gregory Hager. "Dynamic Foreground/Background Extraction from Images and Video using Random Patches". NIPS (2006)
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
Zachary Pezzementi, Gregory D. Hager, Allison Okamura. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". International Conference on Robotics and Automation (2007)
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)
Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". MMVR (2007)
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)
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)
Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". Medicine Meets Virtual Reality (2007)
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
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
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
Zachary Pezzementi, Allison Okamura, Gregory D. Hager. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". nternational Conference on Robotics and Automation (ICRA) (2007):1761-1767
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
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)
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)
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
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)
Alexandre Krupa, Gabor Fichtinger and Gregory Hager. "Real-time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual". Proceedings of MICCAI (2007)
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)
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)
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)
J. Corso and D. Burschka, and G. Hager. "A Practical Paradigm and Platform for Video-Based Human-Computer Interaction". IEEE Computer (2008)
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)
Rivaz, H., I. Fleming, L. Assumpcao, G. Fichtinger, U. Hamper, M. Choti, G. Hager, and E. Boctor. "Ablation Monitoring with Elastography: 2D In-vivo and 3D Ex-vivo Studies". MICCAI 11 (2008):458
Rivaz, H., E. Boctor, P. Foroughi, R. Zellars, G. Fichtinger, and G.D. Hager. "Ultrasound Elastography: A Dynamic Programming Approach.". IEEE Trans. Med. Imaging 27. 10 (2008):1373-1377
Dewan, M., G.D. Hager, and C.H. Lorenz. "Image-Based Coronary Tracking and Beat-to-beat Motion Compensation: Feasibility for Improving Coronary MR Angiography". Magnetic Resonance ni Medicine 60. 3 (2008):604-615
Rivaz, H., I. Fleming, G. Hager, and E. Boctor. "Ablation Monitoring with a Regularized 3D Elastography Technique". IEEE Int. Ultrasonics Symposium (2008)
Hager, G.D., A.M. Okamura, P. Kazanzides, L.L. Whitcomb, G. Fichtinger, and R.H. Taylor. "Surgical and Interventional Robotics: Part III [Tutorial]". IEEE Robotics & Automation Magazine 15. 4 (2008):84-93
Fichtinger, G., P. Kazanzides, A.M. Okamura, G.D. Hager, L.L. Whitcomb, and R.H. Taylor. "Surgical Interventional Robotics: Part II". IEEE Robotics & Automation Magazine 15. 3 (2008):94-102
Vagvolgyi, B., C. Reiley, G. Hager, R. Taylor, and L.M. Su. "Augmented Reality Using Registration of 3D Computed Tomography to Stereoscopic Video of Laparoscopic Renal Surgery". Journal of Urology 179. 4 (2008):241-241
Wang, H., D. Mirota, M. Ishii, and G.D. Hager. "Robust Motion Estimation and Structure Recovery from Endoscopic Image Sequences With an Adaptive Scale Kernel Consensus Estimator". IEEE CVPR 2008 (2008):1-7
Marayong, P., G.D. Hager, and A.M. Okamura. "Control Methods for Guidance Virtual Fixtures in Compliant Human-Machine Interfaces". IEEE/RSJ IROS 2008 (2008):1166-1172
Krupa, A., G.D. Hager, and G. Fichtinger. "Real-Time Motion Stabilization with B-mode Ultrasound Using Image SPeckle Information and Visual Servoing". International Journal of Robotics Research (2008)
Corso, J., and G.D. Hager. "Image Description with Features that Summarize". Computer Vision and Image Understanding (2008)
Voros, S., and G. Hager. "Towards "Real-Time" Tool-tissue Interaction Detection in Robotically Assisted Laparoscopy". IEEE BioRob (2008)
Christensen, H.I., and G.D. Hager. Sensing and Estimation. Springer Handbook of Robotics. 2008.
Fleming, I.N., M. Balicki, J. Koo, I. Iordachita, B. Mitchell, J. Handa, G. Hager, and R. Taylor. "Cooperative Robot Assistant for Retinal Microsurgery". MICCAI 5242 (2008):543-551
Fleming, I.N., S. Voros, B. Vagvolgyi, Z. Pezzementi, J. Handa, R. Taylor, and G.D. Hager. "Intraoperative Visualization of Anatomical Targets in Retinal Surgery". IEEE WACV Workshop (2008):1-6
Reiley, C.E., 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". MMVR (2008)
Wang, H., D. Mirota, G. Hager, and M. Ishii. "Anatomical Reconstruction from Endoscopic Images: Toward Quantitative Endoscopy". American Journal of Rhinology 22. 1 (2008):47-51
Corso, J.J., G. Ye, D. Burschka, and G.D. Hager. "Research Features - A Practical Paradigm and Platform for Video-Based Human-Computer Interaction - New Technologies that Use Multimodal Input, Human Experiences, and Modern Hardware's Full Computational Power Could Mitigate Current Limitations in Human-Computer Interaction". Computer-IEEE Computer Magazine 41. 5 (2008):48-55
Su, L.M., B.P. Vagvolgi, R. Agarwal, C.E. Reiley, R.H. Taylor, and G.D. Hager. "Augmented REality During Robot-Assisted Laparoscopic Partial Nephrectomy: Toward Real-time 3D-CT to Stereoscopic Video Registration". Journal of Urology (2009)
Fleming, I.N., H. Rivaz, K. Macura, L.M. Su, U. Hamper, T. Lotan, G. Lagoda, A. Burnett, R.H. Taylor, G.D. Hager, and E. Boctor. "Ultrasound Elastography: Enabling Technology for IMage guided Laparoscopic Prostatectomy". Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling: Proceedings of SPIE 7261 (2009):7261-7273
Mirota, D., R.H. Taylor, M. Ishii, and G.D. Hager. "Direct Endoscopic Video Registration for Sinus Surgery". Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling: Proceedings of SPIE 7261 (2009)
Becker, B., S. Voros, and G.D. Hager. "Active GUidance of a Handheld Micromanipulator Using Visual Servoing". ICRA (2009)
Bejakovic, S., R. Kumar, T. Dassopoulos, G. Mullin, and G. Hager. "Analysis of Crohn's Disease Leasions in Capsule Endoscopy Images". ICRA (2009)
Pezzementi, Z., S. Voros, and G.D. Hager. "Articulated Object Tracking by Rendering Consistent Appearance Parts". ICRA (2009)

Publications: Abstracts

Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". MMVR (2007)
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)
Gregory Hager, Balazs Vagvolgyi and David Yuh. "Stereoscopic Video Overlay with Deformable Registration". Medicine Meets Virtual Reality (2007)
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)
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
Hager, G., G. Grunwald. "Sensor Planning for Reactive Robot Programs". Proceedings of the Allerton Conference on Communications, Computing and Control (1992)

Publications: Books

Christensen, H.I., and G.D. Hager. Sensing and Estimation. Springer Handbook of Robotics. 2008.
G. Hager. Sensor-Based Robots. LNCS series, Springer-Verlag, 2001.
Hager, G. Robust Vision for Vision-Based Control of Motion. IEEE Computer Society Press, 1999.
Hager, G. The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
Hager, G. Task-Directed Sensor Fusion and Planning. Kluwer, Boston, 1990.

Publications: Book Chapters

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.
Hager, G., Kriegman, D., Morse, A.S. "Research Issues in Vision and Control." The Confluence of Vision and Control. LNCIS series, Springer-Verlag, 1998.
Hager, G.,Grunwald, G., Toyama, K. . "Feature-Based Visual Servoing and its Application to Telerobotics." Intelligent Robotic Systems. Elsevier, Amsterdam, 1995.
Hager, G. "Robust Linear Rules for Nonlinear Systems." Multisensor Fusion for Computer Vision. Springer-Verlag, 1993.
Hager, G., Mintz, M. "Automatic Sensor Search and Positioning for Geometric Tasks." Recent Advances in Spatial Reasoning. Ablex, 1990.

Publications: Journals

Su, L.M., B.P. Vagvolgi, R. Agarwal, C.E. Reiley, R.H. Taylor, and G.D. Hager. "Augmented REality During Robot-Assisted Laparoscopic Partial Nephrectomy: Toward Real-time 3D-CT to Stereoscopic Video Registration". Journal of Urology (2009)
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)
J. Corso and D. Burschka, and G. Hager. "A Practical Paradigm and Platform for Video-Based Human-Computer Interaction". IEEE Computer (2008)
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)
Rivaz, H., E. Boctor, P. Foroughi, R. Zellars, G. Fichtinger, and G.D. Hager. "Ultrasound Elastography: A Dynamic Programming Approach.". IEEE Trans. Med. Imaging 27. 10 (2008):1373-1377
Dewan, M., G.D. Hager, and C.H. Lorenz. "Image-Based Coronary Tracking and Beat-to-beat Motion Compensation: Feasibility for Improving Coronary MR Angiography". Magnetic Resonance ni Medicine 60. 3 (2008):604-615
Hager, G.D., A.M. Okamura, P. Kazanzides, L.L. Whitcomb, G. Fichtinger, and R.H. Taylor. "Surgical and Interventional Robotics: Part III [Tutorial]". IEEE Robotics & Automation Magazine 15. 4 (2008):84-93
Fichtinger, G., P. Kazanzides, A.M. Okamura, G.D. Hager, L.L. Whitcomb, and R.H. Taylor. "Surgical Interventional Robotics: Part II". IEEE Robotics & Automation Magazine 15. 3 (2008):94-102
Vagvolgyi, B., C. Reiley, G. Hager, R. Taylor, and L.M. Su. "Augmented Reality Using Registration of 3D Computed Tomography to Stereoscopic Video of Laparoscopic Renal Surgery". Journal of Urology 179. 4 (2008):241-241
Krupa, A., G.D. Hager, and G. Fichtinger. "Real-Time Motion Stabilization with B-mode Ultrasound Using Image SPeckle Information and Visual Servoing". International Journal of Robotics Research (2008)
Corso, J., and G.D. Hager. "Image Description with Features that Summarize". Computer Vision and Image Understanding (2008)
Wang, H., D. Mirota, G. Hager, and M. Ishii. "Anatomical Reconstruction from Endoscopic Images: Toward Quantitative Endoscopy". American Journal of Rhinology 22. 1 (2008):47-51
Corso, J.J., G. Ye, D. Burschka, and G.D. Hager. "Research Features - A Practical Paradigm and Platform for Video-Based Human-Computer Interaction - New Technologies that Use Multimodal Input, Human Experiences, and Modern Hardware's Full Computational Power Could Mitigate Current Limitations in Human-Computer Interaction". Computer-IEEE Computer Magazine 41. 5 (2008):48-55
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
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
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
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
E.M. Boctor, I. Iordachita, G. Fichtinger, G.D. Hager. "Ultrasound Self-Calibration.". Medical Imaging (2006)
J. Corso, G. Hager, and G. Ye,. "Analysis of Multi-Modal Gestures with a Coherent Probabilistic Graphical Model. ". Virtual Reality (2005)
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)
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)
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)
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
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)
D. Burschka and G.D. Hager. "Vision-based Inspection of Structural Changes respective to Pre-operative CT-Scans with Monocular Endoscope Cameras". CURAC (2005)
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)
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)
Le Lu and Gregory Hager. "Efficient Particle Filtering Using RANSAC with Application to 3D Face Tracking". Image and Vision Computing (2004)
Myron Z. Brown, Darius Burschka, and Gregory D. Hager. "Advances in computational stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003)
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)
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)
D. Burschka and G. Hager. "V-GPS: Vision-Based Guidance Systems based on Natural Landmarks". IEEE Advanced Robotics Journal (2003)
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
Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". IEEE PAMI 23. 6 (2001):560-576
Hager, G., C-P. Lu, E. Mjolsness. "Object Pose from Video Images". PAMI 22. 6 (2000):610-622
Hager, G. and K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". The International Jounrnal of Computer Vision 35. 1 (1999):45-63
Hager, G., and P. Belhumeur. "Tracking 3D: Image Variability Decomposition for Recovering Object Pose and Illumination". Pattern Analysis and Applications (1999)
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
Hager, G., K. Toyama. "Incremental Focus of Attention for Robust Visual Tracking". International Journal of Computer Vision 35. 1 (1999):45-63
Hager, G., P. Bellhumeur. "Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illuminations". Pattern Analysis and Applications (1999)
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
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
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
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
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)
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
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
Hager, G.. "Task-Directed Computation of Qualitative Decisions from Sensor Data". IEEE Transactions on Robotics and Automation 10. 4 (1994):415-429
Hager, G.. "Solving Large Systems of Non-Linear Constraints with Application to Data Modeling". Interval Computations 2. 2 (1994):169-2000
Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". IEEE Transactions on Robotics and Automation 9. 3 (1993):785-800
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
Kazanzides, P., G. Fichtinger, G.D. Hager, A.M. Okamura, L.L. Whitcomb, and R.H. Taylor. "Surgical and Interventional Robotics-Core Concpets, Technology, and Design". IEEE Robotics & Automation Magazine 15. 2 (122):130
Hager, G., Dodds, Z.. "Task Specification and Execution for Uncalibrated Hand-Eye Systems". International Journal of Robotics Research
Hager, G. D. Burschka, D. Kriegman. "Vision-Guided Mobile Robot Navigation". IEEE Transactions on Robotics and Automation
Hager, G., I. Pembeci. "A Comparative Review of Robot Programming Languages". Journal of Autonomous Systems
Hager, G., J. Peterson. "A Transformational Approach to Robot Software". IEEE Transactions on Robotics and Automation

Publications: Conference Proceedings

Fleming, I.N., H. Rivaz, K. Macura, L.M. Su, U. Hamper, T. Lotan, G. Lagoda, A. Burnett, R.H. Taylor, G.D. Hager, and E. Boctor. "Ultrasound Elastography: Enabling Technology for IMage guided Laparoscopic Prostatectomy". Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling: Proceedings of SPIE 7261 (2009):7261-7273
Mirota, D., R.H. Taylor, M. Ishii, and G.D. Hager. "Direct Endoscopic Video Registration for Sinus Surgery". Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling: Proceedings of SPIE 7261 (2009)
Becker, B., S. Voros, and G.D. Hager. "Active GUidance of a Handheld Micromanipulator Using Visual Servoing". ICRA (2009)
Bejakovic, S., R. Kumar, T. Dassopoulos, G. Mullin, and G. Hager. "Analysis of Crohn's Disease Leasions in Capsule Endoscopy Images". ICRA (2009)
Pezzementi, Z., S. Voros, and G.D. Hager. "Articulated Object Tracking by Rendering Consistent Appearance Parts". ICRA (2009)
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)
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)
Rivaz, H., I. Fleming, L. Assumpcao, G. Fichtinger, U. Hamper, M. Choti, G. Hager, and E. Boctor. "Ablation Monitoring with Elastography: 2D In-vivo and 3D Ex-vivo Studies". MICCAI 11 (2008):458
Rivaz, H., I. Fleming, G. Hager, and E. Boctor. "Ablation Monitoring with a Regularized 3D Elastography Technique". IEEE Int. Ultrasonics Symposium (2008)
Wang, H., D. Mirota, M. Ishii, and G.D. Hager. "Robust Motion Estimation and Structure Recovery from Endoscopic Image Sequences With an Adaptive Scale Kernel Consensus Estimator". IEEE CVPR 2008 (2008):1-7
Marayong, P., G.D. Hager, and A.M. Okamura. "Control Methods for Guidance Virtual Fixtures in Compliant Human-Machine Interfaces". IEEE/RSJ IROS 2008 (2008):1166-1172
Voros, S., and G. Hager. "Towards "Real-Time" Tool-tissue Interaction Detection in Robotically Assisted Laparoscopy". IEEE BioRob (2008)
Fleming, I.N., M. Balicki, J. Koo, I. Iordachita, B. Mitchell, J. Handa, G. Hager, and R. Taylor. "Cooperative Robot Assistant for Retinal Microsurgery". MICCAI 5242 (2008):543-551
Fleming, I.N., S. Voros, B. Vagvolgyi, Z. Pezzementi, J. Handa, R. Taylor, and G.D. Hager. "Intraoperative Visualization of Anatomical Targets in Retinal Surgery". IEEE WACV Workshop (2008):1-6
Reiley, C.E., 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". MMVR (2008)
Zachary Pezzementi, Gregory D. Hager, Allison Okamura. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". International Conference on Robotics and Automation (2007)
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)
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)
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
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
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
Zachary Pezzementi, Allison Okamura, Gregory D. Hager. "Dynamic Guidance with Pseudoadmittance Virtual Fixtures". nternational Conference on Robotics and Automation (ICRA) (2007):1761-1767
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
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)
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)
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
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)
Alexandre Krupa, Gabor Fichtinger and Gregory Hager. "Real-time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual". Proceedings of MICCAI (2007)
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)
E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
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)
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
Maneesh Dewan and Gregory D. Hager. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition (2006):618-625
Maneesh Dewan and Gregory D. Hager.. "Toward Optimal Kernel-based Tracking". IEEE Conference on Computer Vision and Pattern Recognition 1 (2006):618-625
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
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)
E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. "Bootstrapped Ultrasound Calibration ". Medicine Meets Virtual Reality (2006)
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)
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)
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)
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)
Sharmishtaa Seshamani, William Lau, Gregory D. Hager. "Real-time Endoscopic Mosaicking". MICCAI (2006):355-363
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
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
Le Lu and Gregory Hager. "Dynamic Foreground/Background Extraction from Images and Video using Random Patches". NIPS (2006)
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
Darius Burschka and Gregory Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". Proc. ICRA (2005)
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.)
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
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
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)
D. Burschka and G.D. Hager. "Vision-Based 3D Scene Analysis for Driver Assistance". ICRA, 2005 (2005)
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
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)
E.M. Boctor, I. Iordachita, G. Fichtinger and G. Hager. "Real-Time Quality Control of Tracked Ultrasound". MICCAI 2005, LNCS 3749 (2005):621-630
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
D. Burschka and G. Hager. "V-GPS(SLAM): Vision-Based Inertial System for Mobile Robots". ICRA 2004 (2004):409-415
Hager, G., Gennari, G.. "Probabilistic data association methods in visual tracking of groups". CVPR 2004 (2004)
Hager, G., M. Dewan and C. Stewart. "Multiple Kernel Tracking with SSD". CVPR 2004 (2004)
G. Ye, J. Corso, and G. Hager. . "Gesture Recognition Using 3D Appearance and Motion Features. ". Proceedings of CVPRHCI, 2004. (2004)
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)
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)
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)
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)
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)
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)
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)
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)
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)
Le Lu and Gregory Hager. "A Three Tiered Approach for Articulated Object Action Modeling and Recognition". Proc. NIPS (2004)
D. Burschka, G. Hager. "V-GPS - Image-Based Control for 3D Guidance Systems". Proc. of IROS (2003):1789-1795
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
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)
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)
P. Marayong, M. Li, A. Okamura, and G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proc. ICRA (2003)
Izzet Pembeci and Gregory D. Hager. "Functional reactive programming as a hybrid systems framework". Proc. ICRA (2003)
J. Corso, D. Burschka, G. Hager. " The 4DT: Unencumbered HCI With VICs". Proceedings of CVPRHCI (2003)
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
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
I. Pembeci, G. Hager. "Functional reactive programming as a hybrid systems framework". Proceedings of ICRA (2003)
P. Marayong, M. Li, A. Okamura, G. Hager. "Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures". Proceedings of ICRA (2003)
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
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)
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)
R. Kumar, G. Hager and R. Taylor. "Task Augmentation for Microsurgical Scale Motion". IEEE Transactions on Robotics and Automation (2002)
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)
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)
X. Dai and G. Hager. "pecifying behavior in C++". International Conference on Robotics and Automation (2002)
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)
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
D. Burschka and G. Hager. "Scene Classification from Dense Disparity Maps in Indoor Environments". Proc. International Conference on Pattern Recognition (2002)
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)
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)
Hager, G., J. Peterson, A. Serjentov. "Composable Robot Controllers". Proc. CIRA (2001)
Hager, G., J. Peterson, P. Hudack, A. Reid. "FVision: A Declarative Language for Visual Tracking". Proc PADL (2001)
Hager, G., D. Burschka. "Vision-Based Control of Mobile Robots". Proc. International Conference on Robotics and Automation (2001):1707-1713
Hager, G., D. Burschka. "Dymanic composition of tracking primitives for interactive vision-guided navigation". SPIE's Intelligent Systems for Advanced Manufacturing, Boston (2001)
Hager, G., A. Bettini, A. Okamura. "Vision Assisted Control for Manipulation Using Virtual Fixtures". Proc, IROS (2001):1171-1176
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)
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
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
Hager, G., D. Burschka. "Laser-based Position Tracking and Map Generation". Proceedings of RA (2000):149-155
Hager, G.. "On Specifying and Performing Visual Tasks with Qaulitative Object Models". International Conference on Robotics and Automation (2000)
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)
Hager, G., A. Bendiksen. "Fast 3D Boundary Computation from Occluding Contour Motion". Proceedings of the International Conference on Robotics and Automation (1999)
Hager, G., J. Peterson, P. Hudak. "A Language for Declarative Robotic Programming". Proceedings of the International Conference on Robotics and Automation (1999):1144-1151
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
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
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)
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)
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)
Hager, G., C. Rasmussen. "Joint Probabilistic Techniques for Tracking Multi-Part Objects". Proceedings of the IEEE International Conference on Computer Vision (1998)
Hager, G., E. Marchand. "Dynamic Sensor Planning in Visual Servoing". Proceedings of the 1998 IEEE International Conference on Robotics and Automation (1998)
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)
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
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
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)
Hager, G., K. Toyama. "If At First You Don't Succeed.". Proceedings of the AAAI Conference on Artificial Intelligence (1997):3-9
Hager, G., Z. Dodds. "A Color Interest Operator for Landmark-based Navigation". Proceedings of the AAAI Conference on Artificial Intelligence (1997):655-660
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
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)
Hager, G., C. Rasmussen. "Robot Navigation Using Image Sequences". Proceedings of the AAAI Conference on Artificial Intelligence (1996):938-943
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
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
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
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
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
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
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
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
Hager, G.. "Calibration-Free Visual Control Using Projective Invariance". Proceedings of the International Conference on Computer Vision (1995):1009-1015
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)
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)
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
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
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
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
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
Hager, G.. "Constraint Solving Methods and Sensor-Based Decision Making". Proceedings of the 1992 IEEE International Conference on Robotics and Automation (1992):1662-1667
Hager, G., G. Grunwald. "Towards task-directed planning of cooperating sensors". SPIE Sensor Fusion V (1992):214-225
Hager, G.. "A constraint-based view of selective perception". AAAI Spring Symposium on Selective Perception (1992):61-65
Hager, G.. "Using Resource-Bounded Sensing in Telerobotics". Proceedings of the Fifth International Conference on Advanced Robotics (1991):199-204
Hager, G., S. Atiya. "Real-Time Vision-Based Robot Localization". Proceedings of the IEEE International Conference on Robotics and Automation (1991):639-643
Hager, G.. "Set-based estimation: Towards task-directed sensing". Proceedings of Melecon Conference (1991):1205-1209
Hager, G.. "Deciding not to decide using resource-bounded sensing". Proceedings of the Symposium on Advances in Intelligent Systems. SPIE, Boston, MA (1990)
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
Hager, G., M. Mintz. "Sensor Modeling and Robust Sensor Fusion". Proceedings of the Fifth International Symposium on Robotics Research. MIT Press, Cambridge, MA (1989)
Hager, G., M. Mintz. "Task-Directed Multi-Sensor Fusion". Proceedings of IEEE Conference on Robotics and Automation (1989):662-667
Hager, G., D. Heeger. "Egomotion and the Stabilized World". Proceedings of the Second International Conference on Computer Vision (1988)
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
Hager, G., A. Felty. "Explaining Modal Logic Proofs". Proceedings of IEEE Systems, Man, and Cybernetics Conference on Human Computer Interaction (1988)
Hager, G., M. Mintz. "Searching for Information". Proceedings of Workshop on Spatial Reasoning and Multi-Sensor Fusion. Morgan Kaufmann (1987):313-322
Hager, G., R. Bajcsy. "Tactile Information Processing - The Bottom Up Approach". Proceedings of the International Conference on Pattern Recognition (1984):809-811
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
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
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)
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)
Gregory D. Hager. "Human-machine cooperative manipulation with vision-based motion constraints". Workshop on Visual Servoing

Publications: Reports

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)
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)
M. Brown, D. Burschka, G. Hager. "Advances in Computational Stereo". IEEE Transactions on Pattern Analysis and Machine Intelligence (2003):993-1008
M. Brown, D. Burschka, G. Hager. "Shape and appearance in object recognition". (2003)
L. Lu, X. Dai, G. Hager. "Real Time Video Mosaicing - Technical Report". Technical report, The Johns Hopkins University (2003)
J. Corso, N. Ramey, G. Hager. "Stereo-Based Direct Surface Tracking with Deformable Parametric Models". Technical Report 02, The Johns Hopkins University (2003)
G. Ye, J. Corso, G. Hager, A. Okamura. "Augmented Reality Combining Haptics and Vision". Technical Report 03, The Johns Hopkins University (2003)

Publications: Patents

Hager, G., K. Toyama. "A Vision-based Six-degree-of-freedom Computer Input Device". U.S. Patent 60/012,761. Nov (1998)
Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method and System for Cooperative Control of Manipulator Systems". (Preliminary patent filed 2001)
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)
Hager, G., R. Kumar, R. Taylor, A. Barnes, P. Jensen. "Method for Creating High Resolution Composite Images". (Preliminary patent filed 2001)
Hager, G., R. Kumar, R. Taylor. "Method for Manipulating Cells of a Cell Culture". (Preliminary patent filed 2001)

Publications: Other

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)
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
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
Hager, G., C. Rasmussen. "Tracking Objects by Color Alone". DCS-RR-1114. Yale University, New Haven, CT (1997)
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
Hager, G.. "Tracking Tools for Vision-Based Navigation". DCS-RR-1060. Yale University, New Haven, CT (1994)
Hager, G.. "Six DOF Visual Control of Relative Position". DCS-RR-1038. Yale University, New Haven, CT (1994)
Hager, G.. "A Review of Active Vision". IEEE Experts 8. 4 (1993)
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)
Hager, G.. "A C++ Interval and Constraint Solving Package". DCS-RR-953. Yale University, New Haven, CT (1993)
Hager, G.. "Some Problems in Adaptive Visual Servoing". DCS-RR-948. Yale University, New Haven, CT (1993)
Hager, G.. "Active Reduction of Uncertainty in Multi-Sensor Systems". Ph.D. thesis. University of Pennsylvania, PA (1988)
Hager, G.. "An Agent Specification Language". MS-CIS-87-08. University of Pennsylvania, PA (1987)
Hager, G.. "Information Maps for Active Sensor Control". MS-CIS-87-07. University of Pennsylvania, PA (1987)
Hager, G., J. Hobbs et al. "Commonsense Summer: The Final Report". CSLI-85-35. SRI International, Palo Alto, CA (1985)
Hager, G.. "Computational aspects of proof theory in modal logic". Masters thesis. University of Pennsylvania, PA (1985)

Supervised Students

Tiffany Chen Active Graduate BME
Sharmishtaa Seshamani Active/PhD Graduate
Daniel Abretske Active/PhD Graduate
Emad Boctor Graduated 12/06 Graduate
Myron Brown Graduated 5/05 Graduate
Darius Burschka Other Assistant Research Professor
Alan Chen Undergraduate
Jason Corso Graduated 8/05 Graduate
Maneesh Dewan Active/PhD Graduate
Ashley Fernandes Graduated/Masters Graduate
Ioana Fleming Active/PhD Graduate
Pezhman Foroughi Graduate
Jeremy Geiman graduated Graduate
Niccole Howie Graduated 5/06 Graduate
William Lau Graduated 5/06 Graduate BME Masters student
Henry Lin Active/PhD Graduate
Le Lu Active/PhD Graduate Ph.D. expected 2007
Daniel Mirota Active/PhD Graduate
Ben Mitchell Active/PhD Graduate
Izzet Pembeci Graduated 2003 Graduate Graduated, 2003
Zachary Pezzementi Active/PhD Graduate
Pinak Piratla Graduated/Masters Graduate
Erion Plaku Postdoc
Purnima Rajan Graduate
Nicholas Ramey masters Graduate
Carol Reiley Active/PhD Graduate
Hassan Rivaz Graduate
Sandrine Voros Postdoc
Hanzi Wang Active Postdoc
Guangqi Ye Graduated, 8/05 Graduate

Conflict of Interest

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