Hager, Gregory D.

Mandell Bellmore Professor and Director of the Malone Center for Engineering in Healthcare
Department Of Computer Science

Malone Hall 341
3400 N Charles St
(410) 516-5521

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Gregory D. Hager

Gregory Hager named TUM Ambassador

January 3, 2018

Each year, TUM honors a group of select international top-level scientists and research alumni with the title of “TUM Ambassadors” in recognition of their services, acknowledging them as representatives of all the TUM research alumni around the globe.

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Johns Hopkins engineers receive seed grants to further our understanding of how humans learn

September 14, 2017

The Science of Learning Institute at Johns Hopkins University will support six new interdisciplinary projects with two-year seed grants. This is the fifth round of seed grants for the institute, which launched in 2013 to foster better understanding of all levels of learning. “Our latest round of grants continues to showcase the highly innovative and intensely cross-disciplinary collaborations […]

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Hager named inaugural Mandell Bellmore Professor

June 23, 2015

Gregory D. Hager, professor and past chair of the Department of Computer Science, has been named the Whiting School’s inaugural Mandell Bellmore Professor. The endowed professorship was created by John Malone, PhD ’69, and is named in honor of Malone’s thesis advisor in the Department of Operations Research. Hager is a leader in the development […]

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ClearGuide Medical receives $1.5 million NIH award

April 16, 2015

The National Institutes of Health have awarded ClearGuide Medical, a tech startup co-founded by Department of Computer Science Chair Gregory D. Hager, a two-year, $1.5 million SBIR Phase II award. ClearGuide offers groundbreaking software that enables doctors and technicians to perform far more accurate ultrasound-guided procedures, such as needle biopsies. The NIH-funded project provides a new feedback […]

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Malone Hall Exterior

Opening of Malone Hall ushers in a new era

September 2, 2014

The scientific activity inside Malone Hall, the latest physical addition to the Homewood campus, promises to be staggering in both scale and scope. Within the building’s gleaming walls, Johns Hopkins faculty and students will endeavor to: enhance understanding of how human genes cause disease, protect the Earth from an asteroid collision, safeguard and systematize sensitive […]

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  • Ph.D. 1988, University of Pennsylvania
  • Other Master's Degree (M.S.E.) 1985, University of Pennsylvania
  • B.A. 1983, Luther College
Research Areas
  • Best Paper Nomination - IEEE Trans. on Robotics and Automation
  • Best Paper Nomination - International Symposium on Robotics Research
  • Fullbright Post-doctoral Junior Research Fellowship
  • IBM Graduate Fellowship in Manufacturing and Automation
  • National Science Foundation Graduate Fellowship
  • Rubinoff Dissertation Prize - University of Pennsylvania
  • Yale Junior Faculty Fellowship
  • 2014:  TUM Institute for Advanced Study Hans Fischer Fellow
  • 2006:  IEEE Fellow
  • 2006:  Spie Ultrasonics best paper award
  • 2005:  Medical Image Analysis Best MICCAI Paper Award
  • 2005:  MICCAI Best Student Paper Award in Computer-Aided Interventions


Journal Articles
  • Hager, G. (2002).  Sensor Based Intelligent Robots: International Workshop, Dagstuhl Castle, Germany, October 15-20, 2000. Selected Revised Papers.  Springer.  4.
  • Hager, G., Vincze, M. (1998).  Robust Vision for Vision-based Control of Motion: Workshop WS 2; ICRA’98, Leuven, Belgium, Saturday, May 16, 1998.
  • Hager, G. (1994).  Six DOF visual control of relative position.  Yale Univ., Department of Computer Science.
  • Hager, G. (1990).  Task-Directed Sensor Fusion and Planning:: A Computational Approach.  Springer.  99.
Book Chapters
  • Stolka, P. J., Foroughi, P., Rendina, M., Weiss, C. R., Hager, G., Boctor, E. M. (2014).  Needle Guidance Using Handheld Stereo Vision and Projection for Ultrasound-Based Interventions.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2014.  Springer International Publishing.  684–691.
  • Malpani, A., Vedula, S., Chen, C. C., Hager, G. (2014).  Pairwise Comparison-Based Objective Score for Automated Skill Assessment of Segments in a Surgical Task.  Information Processing in Computer-Assisted Interventions.  Springer.  138–147.
  • Li, C., Lu, L., Hager, G., Tang, J., Wang, H. (2013).  Robust object tracking in crowd dynamic scenes using explicit stereo depth.  Computer Vision–ACCV 2012.  Springer Berlin Heidelberg.  71–85.
  • Tao, L., Zappella, L., Hager, G., Vidal, R. (2013).  Surgical gesture segmentation and recognition.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2013.  Springer Berlin Heidelberg.  339–346.
  • Richa, R., Vágvölgyi, B., Balicki, M., Hager, G., Taylor, R. (2012).  Hybrid tracking and mosaicking for information augmentation in retinal surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2012.  Springer Berlin Heidelberg.  397–404.
  • Ahmidi, N., Hager, G., Ishii, L., Gallia, G. L., Ishii, M. (2012).  Robotic path planning for surgeon skill evaluation in minimally-invasive sinus surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2012.  Springer Berlin Heidelberg.  471–478.
  • Tao, L., Elhamifar, E., Khudanpur, S., Hager, G., Vidal, R. (2012).  Sparse hidden markov models for surgical gesture classification and skill evaluation.  Information Processing in Computer-Assisted Interventions.  Springer Berlin Heidelberg.  167–177.
  • Padoy, N., Hager, G. (2011).  Spatio-temporal registration of multiple trajectories.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2011.  Springer Berlin Heidelberg.  145–152.
  • Rivaz, H., Boctor, E. M., Choti, M. A., Hager, G. (2011).  Ultrasound elastography using three images.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2011.  Springer Berlin Heidelberg.  371–378.
  • Sznitman, R., Basu, A., Richa, R., Handa, J., Gehlbach, P., Taylor, R., Jedynak, B., Hager, G. (2011).  Unified detection and tracking in retinal microsurgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2011.  Springer Berlin Heidelberg.  1–8.
  • Becker, B. C., Voros, S., MacLachlan, R. A., Hager, G., Riviere, C. N. (2011).  Visual Guidance of an Active Handheld Microsurgical Tool.  Surgical Robotics.  Springer US.  355–368.
  • Mair, E., Hager, G., Burschka, D., Suppa, M., Hirzinger, G. (2010).  Adaptive and generic corner detection based on the accelerated segment test.  Computer Vision–ECCV 2010.  Springer Berlin Heidelberg.  183–196.
  • Seshamani, S., Kumar, R., Dassopoulos, T., Mullin, G., Hager, G. (2010).  Augmenting capsule endoscopy diagnosis: a similarity learning approach.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2010.  Springer Berlin Heidelberg.  454–462.
  • Rajan, P., Canto, M., Gorospe, E., Almario, A., Kage, A., Winter, C., Hager, G., Wittenberg, T., Münzenmayer, C. (2010).  Automated diagnosis of barrett’s esophagus with endoscopic images.  World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany.  Springer Berlin Heidelberg.  2189–2192.
  • Hager, G. (2010).  Human-machine cooperative manipulation with vision-based motion constraints.  Visual Servoing via Advanced Numerical Methods.  Springer London.  55–70.
  • Ahmidi, N., Hager, G., Ishii, L., Fichtinger, G., Gallia, G. L., Ishii, M. (2010).  Surgical task and skill classification from eye tracking and tool motion in minimally invasive surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2010.  Springer Berlin Heidelberg.  295–302.
  • Foroughi, P., Rivaz, H., Fleming, I. N., Hager, G., Boctor, E. M. (2010).  Tracked ultrasound elastography (TrUE).  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2010.  Springer Berlin Heidelberg.  9–16.
  • Seshamani, S., Rajan, P., Kumar, R., Girgis, H., Dassopoulos, T., Mullin, G., Hager, G. (2009).  A meta registration framework for lesion matching.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2009.  Springer Berlin Heidelberg.  582–589.
  • Varadarajan, B., Reiley, C., Lin, H., Khudanpur, S., Hager, G. (2009).  Data-derived models for segmentation with application to surgical assessment and training.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2009.  Springer Berlin Heidelberg.  426–434.
  • Reiley, C. E., Hager, G. (2009).  Task versus subtask surgical skill evaluation of robotic minimally invasive surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2009.  Springer Berlin Heidelberg.  435–442.
  • Mirota, D., Wang, H., Taylor, R., Ishii, M., Hager, G. (2009).  Toward video-based navigation for endoscopic endonasal skull base surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2009.  Springer Berlin Heidelberg.  91–99.
  • Rivaz, H., Foroughi, P., Fleming, I., Zellars, R., Boctor, E., Hager, G. (2009).  Tracked regularized ultrasound elastography for targeting breast radiotherapy.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2009.  Springer Berlin Heidelberg.  507–515.
  • Rivaz, H., Fleming, I., Assumpcao, L., Fichtinger, G., Hamper, U., Choti, M., Hager, G., Boctor, E. (2008).  Ablation monitoring with elastography: 2D in-vivo and 3D ex-vivo studies.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2008.  Springer Berlin Heidelberg.  458–466.
  • Krupa, A., Fichtinger, G., Hager, G. (2007).  Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2007.  Springer Berlin Heidelberg.  1–8.
  • Seshamani, S., Lau, W., Hager, G. (2006).  Real-time endoscopic mosaicking.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2006.  Springer Berlin Heidelberg.  355–363.
  • Lin, H. C., Shafran, I., Murphy, T. E., Okamura, A. M., Yuh, D. D., Hager, G. (2005).  Automatic detection and segmentation of robot-assisted surgical motions.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2005.  Springer Berlin Heidelberg.  802–810.
  • Kragic, D., Marayong, P., Li, M., Okamura, A. M., Hager, G. (2005).  Erratum: Human-Machine Collaborative Systems for Microsurgical Applications.  Robotics Research. The Eleventh International Symposium.  Springer Berlin Heidelberg.  E1–E1.
  • Boctor, E. M., Iordachita, I., Fichtinger, G., Hager, G. (2005).  Real-time quality control of tracked ultrasound.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2005.  Springer Berlin Heidelberg.  621–630.
  • Ye, G., Corso, J. J., Hager, G. (2005).  Visual modeling of dynamic gestures using 3D appearance and motion features.  Real-Time Vision for Human-Computer Interaction.  Springer US.  103–120.
  • Burschka, D., Li, M., Taylor, R., Hager, G. (2004).  Scale-Invariant Registratiou of Monocular Endoscopic Images to CT-Scans for Sinus Surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2004.  Springer Berlin Heidelberg.  413–421.
  • Lau, W. W., Ramey, N. A., Corso, J. J., Thakor, N. V., Hager, G. (2004).  Stereo-based endoscopic tracking of cardiac surface deformation.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2004.  Springer Berlin Heidelberg.  494–501.
  • Dewan, M., Marayong, P., Okamura, A. M., Hager, G. (2004).  Vision-based assistance for ophthalmic micro-surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2004.  Springer Berlin Heidelberg.  49–57.
  • Ye, G., Corso, J., Burschka, D., Hager, G. (2003).  Vics: A modular vision-based hci framework.  Computer Vision Systems.  Springer Berlin Heidelberg.  257–267.
  • Kumar, R., Barnes, A. C., Hager, G., Jensen, P. S., Taylor, R. (2001).  Cooperative Fine Manipulation Tasks in Surgery.  Medical Image Computing and Computer-Assisted Intervention–MICCAI 2001.  Springer Berlin Heidelberg.  1417–1418.
  • Belhumeur, P. N., Hager, G. (1999).  Image Variability Decomposition for Recovering Pose and Illumination from Object Tracking.  International Conference on Advances in Pattern Recognition.  Springer London.  93–102.
  • Feiten, W., Magnussen, B., Hager, G., Toyama, K. (1998).  Modeling and control for mobile manipulation in everyday environments.  Robotics Research.  Springer London.  14–22.
  • Hager, G., Kriegman, D. J., Morse, A Stephen. (1998).  Research issues in vision and control.  The confluence of vision and control.  Springer London.  1–10.
  • Hager, G., Kriegman, D. J., Morse, A Stephen., Allen, P., Forsyth, D., Hutchinson, S., Little, J., McClamroch, N. H., Sanderson, A., Skaar, S. (1998).  The block island workshop: Summary report.  The confluence of vision and control.  Springer London.  273–281.
  • Corke, P. I., Hager, G. (1998).  Vision-based robot control.  Control Problems in Robotics and Automation.  Springer Berlin Heidelberg.  177–192.
  • Hespanha, J., Dodds, Z., Hager, G., Morse, A Stephen. (1998).  What can be done with an uncalibrated stereo system?.  The confluence of vision and control.  Springer London.  79–89.
  • Hager, G., Toyama, K. (1996).  X vision: Combining image warping and geometric constraints for fast visual tracking.  Computer Vision—ECCV’96.  Springer Berlin Heidelberg.  507–517.
  • Grunwald, G., Hager, G. (1993).  Task-Directed Sensor-Planning.  Data Fusion Applications.  Springer Berlin Heidelberg.  87–101.
Other Publications
  • Hager, G., Ishii, M., Meisner, E., Marota, D. J., Tokgozoglu, H. N. (2013).  Imaging system and method for use of same to determine metric scale of imaged bodily anatomy.
  • Das, D., Filipovich, M. O., Corso, J. J., Hager, G. (2013).  Systems and Methods for Motion and Distance Measurement in Gastrointestinal Endoscopy.
  • Hager, G., Varadarajann, B., Khudanpur, S., Kumar, R., Reiley, C. E., Lin, H. C. (2012).  METHOD AND SYSTEM FOR QUANTIFYING TECHNICAL SKILL.
  • Wegbreit, E. L., Hager, G. (2011).  System and Method for Constructing a 3D Scene Model From an Image.
  • Rivaz, H., Hager, G., Boctor, E. M., Fleming, I. (2011).  METHOD AND SYSTEM FOR PROCESSING ULTRASOUND DATA.
  • Hager, G., Wegbreit, E. L., others. (2011).  System and method for recognition in 2D images using 3D class models.
  • Foroughi, P., Boctor, E., Hager, G. (2011).  METHODS AND APPARATUS FOR ULTRASOUND STRAIN IMAGING.  Google Patents.
  • Boctor, E. M., Hager, G., Fichtinger, G., Viswanathan, A. (2011).  Ultrasound calibration and real-time quality assurance based on closed form formulation.
  • Dame, A. (2010).  Méthode unifiée de suivi et d’asservissement visuels basée sur l’information mutuelle.  Université Rennes 1.
  • Taylor, R., Billings, S. D., Gehlbach, P. L., Hager, G., Handa, J. T., Kang, J., Vagvolgyi, B., Sznitman, R., Pezzementi, Z. (2010).  PROGRAMMABLE MULTIPSPECTRAL ILLIUMINATION SYSTEM FOR SURGERY AND VISUALIZATION OF LIGHT-SENSITIVE TISSUES.
  • Hager, G., Reiley, C. E., Varadarajann, B., Khudanpur, S., Lin, H. C., Kumar, R. (2010).  METHOD AND SYSTEM FOR QUANTIFYING TECHNICAL SKILL.
  • Wegbreit, E. L., Hager, G. (2008).  System and method for constructing a 3D scene model from an image.
  • Rivaz, H., Boctor, E. M., Fichtinger, G., Hager, G. (2008).  ROBUST AND ACCURATE FREEHAND 3D ULTRASOUND.
  • Boctor, E. M., Fichtinger, G., Hager, G., Rivaz, H. (2007).  Apparatus and method for computing 3D ultrasound elasticity images.  Google Patents.
  • Corso, J. J. (2006).  Techniques for vision-based human-computer interaction.  Johns Hopkins University.
  • Hager, G., Wegbreit, E. L., others. (2006).  Acquisition of three-dimensional images by an active stereo technique using locally unique patterns.  Google Patents.
  • Hager, G., Wegbreit, E. L. (2005).  System and method for 3D object recognition using range and intensity.  Google Patents.
  • Hager, G., Wegbreit, E. L. (2005).  System and method for computing grasps for a robotic hand with a palm.
  • Ye, G., Hager, G. (2002).  Appearance-based visual interaction.  Technical report, 2002. CIRL Lab Technical Report, Department of Computer Science, The Johns Hopkins Univeristy.
  • Corso, J., Hager, G. (2002).  Planar surface tracking using direct stereo.  Technical report, The Johns Hopkins University, 2002. CIRL Lab Technical Report.
  • Pembeci, I., Hager, G. (2001).  A comparative review of robot programming languages.  CIRL Lab Technical Report, Tech. Rep., 2002.[Online]. Available:/CIRL/publications/pdf/pembeci-review. pdf.
  • Toyama, K., Hager, G. (1999).  Vision-based six-degree-of-freedom computer input device.  Google Patents.
  • Hager, G., Hutchinson, S. (1996).  Introduction to the special section on vision-based control of robot manipulators.  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC 345 E 47TH ST, NEW YORK, NY 10017-2394.
  • Hager, G., Toyama, K. (1993).  A framework for real-time window-based tracking using o-the-shelf hardware.  Yale Tech Report: Yale-TR-988.
Conference Proceedings
  • Guerin, K. R., Riedel, S. D., Bohren, J., Hager, G. (2014).  Adjutant: A framework for flexible human-machine collaborative systems.  Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on.  1392–1399.
  • Bergen, T., Wittenberg, T., Münzenmayer, C., Chen, C. C., Hager, G. (2013).  A graph-based approach for local and global panorama imaging in cystoscopy.  SPIE Medical Imaging.  86711K–86711K.
  • Tao, L., Zappella, L., Hager, G., Vidal, R. (2013).  Segmentation and Recognition of Surgical Gestures from Kinematic and Video Data.  Medical Image Computing and Computer Assisted Intervention.
  • Liu, W. P., Mirota, D. J., Uneri, A., Otake, Y., Hager, G., Reh, D. D., Ishii, M., Gallia, G. L., Siewerdsen, J. H. (2012).  A clinical pilot study of a modular video-CT augmentation system for image-guided skull base surgery.  SPIE Medical Imaging.  831633–831633.
  • Tokgozoglu, H. N., Meisner, E., Kazhdan, M., Hager, G. (2012).  Color-based hybrid reconstruction for endoscopy.  Computer Vision and Pattern Recognition Workshops (CVPRW), 2012 IEEE Computer Society Conference on.  8–15.
  • Sznitman, R., Ali, K., Richa, R., Taylor, R., Hager, G., Fua, P. (2012).  Data-Driven Visual Tracking in Retinal Microsurgery.  Medical Image Computing and Computer-Integrated Interventions (MICCAI).  LNCS 7511.  568-575.
  • Padoy, N., Hager, G. (2012).  Deformable Tracking of Textured Curvilinear Objects..  BMVC.  1–11.
  • Richa, R., Vagvolgyi, B., Hager, G., Taylor, R. (2012).  Hybrid Tracking for Intra-operative Information Augmentation in Retinal Surgery.  Medical Image Computing and Computer-Integrated Interventions (MICCAI).  LNCS 7510.  397-404.
  • Bodenstedt, S., Padoy, N., Hager, G. (2012).  Learned Partial Automation for Shared Control in Tele-Robotic Manipulation..  AAAI Fall Symposium: Robots Learning Interactively from Human Teachers.
  • Fleming, I., Rivaz, H., Boctor, E., Hager, G. (2012).  Robust dynamic programming method for ultrasound elastography.  SPIE Medical Imaging.  83201K–83201K.
  • Brucker, M., Léonard, S., Bodenmliller, T., Hager, G. (2012).  Sequential scene parsing using range and intensity information.  Robotics and Automation (ICRA), 2012 IEEE International Conference on.  5417–5424.
  • Tao, L., Elhamifar, E., Khudanpur, S., Hager, G., Vidal, R. (2012).  Sparse Hidden Markov Models for Surgical Gesture Classification and Skill Evaluation.  Information Processing in Computed Assisted Interventions.
  • Wang, X. L., Stolka, P. J., Boctor, E., Hager, G., Choti, M. (2012).  The Kinect as an interventional tracking system.  SPIE Medical Imaging.  83160U–83160U.
  • Foroughi, P., Burgner, J., Choti, M. A., Webster, III, R. J., Hager, G., Boctor, E. M. (2012).  Towards intra-operative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation.  SPIE Medical Imaging.  83200T–83200T.
  • Padoy, N., Hager, G. (2011).  3D thread tracking for robotic assistance in tele-surgery.  Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on.  2102–2107.
  • Uneri, A., Schafer, S., Mirota, D., Nithiananthan, S., Otake, Y., Reaungamornrat, S., Yoo, J., Stayman, J., Reh, D., Gallia, G., Khanna, A. J., Hager, G., Taylor, R., Kleinszig, G., Siewerdsen, J. H. (2011).  Architecture of a High-Performance Surgical Guidance System Based on C-Arm Cone-Beam CT: Software Platform for Technical Integration and Clinical Translation.  SPIE Medical Imaging: Visualization, Image-Guided Procedures, and Modeling.  7964-74.
  • Becker, B. C., MacLachlan, R. A., Hager, G., Riviere, C. N. (2011).  Handheld micromanipulation with vision-based virtual fixtures.  Robotics and Automation (ICRA), 2011 IEEE International Conference on.  4127–4132.
  • Mirota, D. J., Uneri, A., Schafer, S., Nithiananthan, S., Reh, D. D., Gallia, G. L., Taylor, R., Hager, G., Siewerdsen, J. H. (2011).  High-accuracy 3D image-based registration of endoscopic video to C-arm cone-beam CT for image-guided skull base surgery.  Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling.  7964.
  • Padoy, N., Hager, G. (2011).  Human-machine collaborative surgery using learned models.  Robotics and Automation (ICRA), 2011 IEEE International Conference on.  5285–5292.
  • Stolka, P. J., Wang, X. L., Hager, G., Boctor, E. M. (2011).  Navigation with local sensors in handheld 3D ultrasound: initial in-vivo experience.  SPIE Medical Imaging.  79681J–79681J.
  • Pezzementi, Z., Reyda, C., Hager, G. (2011).  Object mapping, recognition, and localization from tactile geometry.  Robotics and Automation (ICRA), 2011 IEEE International Conference on.  5942–5948.
  • Taylor, R., Kang, J., Iordachita, I., Hager, G., Kazanzides, P., Riviere, C., Gower, E., Richa, R., Balicki, M., He, X., Liu, X., Olds, K., Sznitman, R., Vagvolgyi, B., Gehlbach, P., Handa, J. (2011).  Recent Work Toward a Microsurgical Assistant for Retinal Surgery .  Hamlyn Symposium on Medical Robotics.  3-4.
  • Jog, A., Itkowitz, B., Liu, M., DiMaio, S., Hager, G., Curet, M., Kumar, R. (2011).  Towards integrating task information in skills assessment for dexterous tasks in surgery and simulation.  Robotics and Automation (ICRA), 2011 IEEE International Conference on.  5273–5278.
  • Zhao, Q., Dassopoulos, T., Mullin, G., Hager, G., Meng, M., Kumar, R. (2011).  Towards integrating temporal information in capsule endoscopy image analysis.  Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE.  6627–6630.
  • Sznitman, R., Billings, S., Rother, D., Hager, G., Taylor, R., Handa, J., Gehlbach, P. (2011).  Towards Safer Retinal Microsurgery: Visualization Via Multispectral Illumination.  INFORMS Healthcare 2011.
  • Gao, Y., Sedef, M., Jog, A., Peng, P., Choti, M., Hager, G., Berkley, J., Kumar, R. (2011).  Towards validation of robotic surgery training assessment across training platforms.  Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on.  2539–2544.
  • Sefati, S., Rivaz, H., Boctor, E., Hager, G. (2011).  Ultrasound elastography using regularized phase-zero cost function initialized with dynamic programming.  SPIE Medical Imaging.  79681D–79681D.
  • Sznitman, R., Basu, A., Richa, R., Handa, J., Gehlbach, P., Taylor, R., Jedynak, B., Hager, G. (2011).  Unifed Detection and Tracking in Retinal Microsurgery.  Medical Image Computing and Computer-Assisted Intervention (MICCAI).  14 (Pt. 1).  1-8.
  • Richa, R., Balicki, M., Meisner, E., Sznitman, R., Taylor, R., Hager, G. (2011).  Visual tracking of surgical tools for proximity detection in retinal surgery.  Information Processing in Computer Assisted Interventions (IPCAI).  55-66.
  • Richa, R., Sznitman, R., Taylor, R., Hager, G. (2011).  Visual Tracking Using the Sum of Conditional Variance.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011).  2953-2958.
  • Rivaz, H., Kapoor, A., Fleming, I., Hager, G., Boctor, E. M. (2010).  A novel method for monitoring liver ablation using ultrasound elastography.  SPIE Medical Imaging.  762913–762913.
  • Sznitman, R., Billings, S., Rother, D., Mirota, D., Yang, Y., Handa, J., Gehlbach, P., Kang, J., Hager, G., Taylor, R. (2010).  Active Multispectral Illumination and Image Fusion for Retinal Microsurgery.  Information Processing in Computer Assisted Interventions (IPCAI).  465-472.
  • Sznitman, R., Rother, D., Handa, J., Gehlbach, P., Hager, G., Taylor, R. (2010).  Adaptive Multispectral Illumination for Retinal Microsurgery.  Medical Image Computing and Computer-Assisted Intervention (MICCAI).  6363.  465-472.
  • Girgis, H. Z., Mitchell, B., Dassopoulos, T., Mullin, G., Hager, G. (2010).  An intelligent system to detect Crohn’s disease inflammation in wireless capsule endoscopy videos.  Biomedical Imaging: From Nano to Macro, 2010 IEEE International Symposium on.  1373–1376.
  • Foroughi, P., Hager, G., Wacker, F. K., Boctor, E. M. (2010).  Application of external tracking in ultrasound elasticity imaging.  SPIE Medical Imaging.  76291B–76291B.
  • Pezzementi, Z., Jantho, E., Estrade, L., Hager, G. (2010).  Characterization and simulation of tactile sensors.  Haptics Symposium, 2010 IEEE.  199–205.
  • Gaschler, A., Burschka, D., Hager, G. (2010).  Epipolar-based stereo tracking without explicit 3d reconstruction.  Pattern Recognition (ICPR), 2010 20th International Conference on.  1755–1758.
  • Reiley, C. E., Plaku, E., Hager, G. (2010).  Motion generation of robotic surgical tasks: Learning from expert demonstrations.  Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE.  967–970.
  • Becker, B. C., Voros, S., Lobes, L. A., Handa, J. T., Hager, G., Riviere, C. N. (2010).  Retinal vessel cannulation with an image-guided handheld robot.  Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE.  5420–5423.
  • Plaku, E., Hager, G. (2010).  Sampling-based motion and symbolic action planning with geometric and differential constraints.  Robotics and Automation (ICRA), 2010 IEEE International Conference on.  5002–5008.
  • Almario, J. A., Gorospe, E., Rajan, P., Winter, C., Kage, A., Wittenberg, T., Muenzenmayer, C., Hager, G., Canto, M. (2009).  Accuracy and Interobserver Agreement among Experts and Non-Experts for the Diagnosis of Barrett’s Esophagus (BE) and Related Neoplasia (BERN) using High Resolution White Light Endoscopy with Limited Magnification.  AMERICAN JOURNAL OF GASTROENTEROLOGY.  104.  S532–S532.
  • Sznitman, R., Lin, H., Gupta, M., Hager, G. (2009).  Active background modeling: Actors on a stage.  Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on.  1222–1228.
  • Becker, B. C., Voros, S., MacLachlan, R. A., Hager, G., Riviere, C. N. (2009).  Active guidance of a handheld micromanipulator using visual servoing.  Robotics and Automation, 2009. ICRA’09. IEEE International Conference on.  339–344.
  • Bejakovic, S., Kumar, R., Dassopoulos, T., Mullin, G., Hager, G. (2009).  Analysis of Crohn’s disease lesions in capsule endoscopy images.  Robotics and Automation, 2009. ICRA’09. IEEE International Conference on.  2793–2798.
  • Pezzementi, Z., Voros, S., Hager, G. (2009).  Articulated object tracking by rendering consistent appearance parts.  Robotics and Automation, 2009. ICRA’09. IEEE International Conference on.  3940–3947.
  • Seshamani, S., Kumar, R., Rajan, P., Bejakovic, S., Mullin, G., Dassopoulos, T., Hager, G. (2009).  Detecting registration failure.  Biomedical Imaging: From Nano to Macro, 2009. ISBI’09. IEEE International Symposium on.  726–729.
  • Mirota, D., Taylor, R., Ishii, M., Hager, G. (2009).  Direct Endoscopic Video Registration for Sinus Surgery.  SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling.  7261.  72612K-1 - 72612K-8.
  • Seshamani, S., Smith, M. D., Corso, J. J., Filipovich, M. O., Natarajan, A., Hager, G. (2009).  Direct global adjustment methods for endoscopic mosaicking.  SPIE Medical Imaging.  72611D–72611D.
  • Chaudhry, R., Ravichandran, A., Hager, G., Vidal, R. (2009).  Histograms of oriented optical flow and binet-cauchy kernels on nonlinear dynamical systems for the recognition of human actions.  Computer Vision and Pattern Recognition, 2009. CVPR 2009. IEEE Conference on.  1932–1939.
  • Chaudhry, R., Ravichandran, A., Hager, G., Vidal, R. (2009).  Histograms of Oriented Optical Flow and Binet-Cauchy Kernels on Nonlinear Dynamical Systems for the Recognition of Human Actions.  IEEE Conference on Computer Vision and Pattern Recognition.
  • Almario, J. A., Gorospe, E., Rajan, P., Hager, G., Kage, A., Winter, C., Wittenberg, T., Muenzenmayer, C., Canto, M. (2009).  Incremental Change in Accuracy of Narrow Band Imaging (NBI) and Acetic Acid Chromoendoscopy (AAC) over High Resolution White Light Endoscopy for Diagnosis of Barrett’s Esophagus (BE) and Related Neoplasia (BERN).  AMERICAN JOURNAL OF GASTROENTEROLOGY.  104.  S531–S531.
  • Abretske, D., Mirota, D., Hager, G., Ishii, M. (2009).  Intelligent frame selection for anatomic reconstruction from endoscopic video.  Applications of Computer Vision (WACV), 2009 Workshop on.  1–5.
  • Kumar, R., Rajan, P., Bejakovic, S., Seshamani, S., Mullin, G., Dassopoulos, T., Hager, G. (2009).  Learning disease severity for capsule endoscopy images.  Biomedical Imaging: From Nano to Macro, 2009. ISBI’09. IEEE International Symposium on.  1314–1317.
  • Krupa, A., Fichtinger, G., Hager, G., Dionnet, F., Marchand, E., Dame, A., Corke, P., Spindler, F., Chaumette, F., Caron, G., others. (2009).  Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing.  Advanced Sensing and Sensor Integration in Medical Robotics, Workshop at the IEEE Int. Conf. on Robotics and Automation.
  • Foroughi, P., Hager, G., Boctor, E. (2009).  Robust elasticity imaging using external tracker.  Biomedical Imaging: From Nano to Macro, 2009. ISBI’09. IEEE International Symposium on.  209–212.
  • Fleming, I. N., Rivaz, H., Macura, K., Su, L., Hamper, U., Lotan, T., Lagoda, G., Burnett, A., Taylor, R., Hager, G., Boctor, E. M. (2009).  Ultrasound elastography: enabling technology for image guided laparoscopic prostatectomy.  SPIE Medical Imaging 2009: Visualization, Image-guided Procedures and Modeling..  7261.  7261-7273.
  • Marayong, P., Hager, G., Okamura, A. M. (2008).  Control methods for guidance virtual fixtures in compliant human-machine interfaces.  Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on.  1166–1172.
  • Fleming, I., Balicki, M., Koo, J., Iordachita, I., Mitchell, B., Handa, J., Hager, G., Taylor, R. (2008).  Cooperative Robot Assistant for Retinal Microsurgery.  Medical Image Computing and Computer-Assisted Interventions (MICCAI).  Springer Lecture Notes in Computer Science.  LNCS 5242.  543-551.
  • Fleming, I., Voros, S., Vagvolgyi, B., Pezzementi, Z., Handa, J., Taylor, R., Hager, G. (2008).  Intraoperative Visualization of Anatomical Targets in Retinal Surgery.  IEEE Workshop on Applications of Computer Vision (WACV).  1-9.
  • Wang, H., Mirota, D., Ishii, M., Hager, G. (2008).  Robust motion estimation and structure recovery from endoscopic image sequences with an adaptive scale kernel consensus estimator.  Computer Vision and Pattern Recognition, 2008. CVPR 2008. IEEE Conference on.  1–7.
  • Voros, S., Hager, G. (2008).  Towards “real-time” tool-tissue interaction detection in robotically assisted laparoscopy.  Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on.  562–567.
  • Vagvolgyi, B., Su, L., Taylor, R., Hager, G. (2008).  Video to CT Registration for Image Overlay on Solid Organs.  4th Workshop on Aubmented Environments for Medical Imaging and Computer-Aided Surgery.
  • Rivaz, H., Zellars, R., Hager, G., Fichtinger, G., Boctor, E. (2007).  9C-1 Beam Steering Approach for Speckle Characterization and Out-of-Plane Motion Estimation in Real Tissue.  Ultrasonics Symposium, 2007. IEEE.  781–784.
  • Lu, L., Hager, G. (2007).  A nonparametric treatment for location/segmentation based visual tracking.  Computer Vision and Pattern Recognition, 2007. CVPR’07. IEEE Conference on.  1–8.
  • Dewan, M., Lorenz, C. H., Hager, G. (2007).  Deformable motion tracking of cardiac structures (DEMOTRACS) for improved MR imaging.  Computer Vision and Pattern Recognition, 2007. CVPR’07. IEEE Conference on.  1–8.
  • Mitchell, B., Koo, J., Iordachita, I., Kazanzides, P., Kapoor, A., Handa, J., Taylor, R., Hager, G. (2007).  Development and Application of a New Steady-Hand Manipulator for Retinal Surgery.  International Conference on Robotics and Automation.  623-629.
  • Pezzementi, Z., Okamura, A. M., Hager, G. (2007).  Dynamic guidance with pseudoadmittance virtual fixtures.  Robotics and Automation, 2007 IEEE International Conference on.  1761–1767.
  • Krupa, A., Fichtinger, G., Hager, G. (2007).  Full motion tracking in ultrasound using image speckle information and visual servoing.  Robotics and Automation, 2007 IEEE International Conference on.  2458–2464.
  • Fichtinger, G., Boctor, E., Hager, G. (2007).  New Approaches to Calibration and Segmentation in Interventional Ultrasound..  ISBI.  1060–1063.
  • Vagvolgyi, B., Reiley, C. E., Hager, G., Taylor, R., Levinson, A. W., Su, L. (2007).  Toward Direct Registration of Video to Computer Tomography for Intraoperative Surgical Planning During Laparoscopic Partial Nephrectomy.  World Congress of Endourology.  (Poster).
  • Kallem, V., Dewan, M., Swensen, J. P., Hager, G., Cowan, N. (2007).  Kernel-Based Visual Servoing.  Proc IEEE RSJ Int Conf Intell Robots Syst.  1975–1980.
  • Lu, L., Hager, G. (2006).  Dynamic foreground/background extraction from images and videos using random patches.  Advances in Neural Information Processing Systems.  929–936.
  • Marayong, P., Hager, G., Okamura, A. M. (2006).  Effect of hand dynamics on virtual fixtures for compliant human-machine interfaces.  Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on.  109–115.
  • Hager, G., Okamura, A. M., Taylor, R. (2006).  Human-Machine Collaborative Systems: Intelligent Virtual Fixtures and Space Applications..  AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before.  76–78.
  • Lin, H. C., Mills, K., Kazanzides, P., Hager, G., Marayong, P., Okamura, A. M., Karam, R. (2006).  Portability and applicability of virtual fixtures across medical and manufacturing tasks.  Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on.  225–230.
  • Iordachita, I., Kapoor, A., Mitchell, B., Kazanzides, P., Hager, G., Handa, J., Taylor, R. (2006).  Steady-Hand Manipulator for Retinal Surgery.  MICCAI Workshop on Medical Robotics.  66-73.
  • Boctor, E., deOliveira, M., Choti, M., R, G., Taylor, R., Hager, G., Fichtinger, G. (2006).  Ultrasound monitoring of tissue ablation via deformation model and shape priors.  Med Image Comput Comput Assist Interv. (MICCAI).  9 (Pt 2).  405-412.
  • Seshamani, S., Riviere, C., Handa, J., Lobes, L., Hager, G. (2006).  Visual Measurement of Microsurgical Motion with Application to Robotic Augmentation.  Bioengineering Conference, 2006. Proceedings of the IEEE 32nd Annual Northeast.  39–40.
  • Doctor, E. M., Iordachita, I., Fichtinger, G., Hager, G. (2006).  Ultrasound self-calibration.  6141.
  • Lu, L., Toyama, K., Hager, G. (2005).  A two level approach for scene recognition.  Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on.  1.  688–695.
  • Corso, J. J., Hager, G. (2005).  Coherent regions for concise and stable image description.  Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on.  2.  184–190.
  • Leven, J., Burschka, D., Kumar, R., Zhang, G., Blumenkranz, S., Dai, X., Awad, M., Hager, G., Marohn, M., Choti, M., Hasser, C., Taylor, R. (2005).  DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability.  Medical Image Computing and Computer-Assisted Interventions.  811-818.
  • Burschka, D., Hager, G. (2005).  Vision-based 3d scene analysis for driver assistance.  Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on.  812–818.
  • Boctor, E., Viswanathan, A., Choti, M., Taylor, R., Fichtinger, G., Hager, G. (2004).  A Novel Closed Form Solution For Ultrasound Calibration.  International Symposium on Biomedical Imaging.  527-530.
  • Lu, L., Dai, X., Hager, G. (2004).  A particle filter without dynamics for robust 3D face tracking.  Computer Vision and Pattern Recognition Workshop, 2004. CVPRW’04. Conference on.  70–70.
  • Lu, L., Hager, G., Younes, L. (2004).  A three tiered approach for articulated object action modeling and recognition.  Advances in Neural Information Processing Systems.  841–848.
  • Ye, G., Corso, J. J., Hager, G. (2004).  Gesture recognition using 3D appearance and motion features.  Computer Vision and Pattern Recognition Workshop, 2004. CVPRW’04. Conference on.  160–160.
  • Corso, J. J., Dewan, M., Hager, G. (2004).  Image segmentation through energy minimization based subspace fusion.  Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on.  2.  120–123.
  • Viswanathan, A., Boctor, E., Taylor, R., Hager, G., Fichtinger, G. (2004).  Immediate Ultrasound Calibration with Three Poses and Minimal Image Processing.  MICCAI.  2.  446-454.
  • Hager, G., Dewan, M., Stewart, C. V. (2004).  Multiple kernel tracking with SSD.  Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on.  1.  I–790.
  • Burschka, D., Hager, G. (2004).  Principles and practice of real-time visual tracking for navigation and mapping.  Robot Sensing, 2004. ROSE 2004. International Workshop on.  1–8.
  • Gennari, G., Hager, G. (2004).  Probabilistic data association methods in visual tracking of groups.  Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on.  2.  II–876.
  • Ramey, N. A., Corso, J. J., Lau, W. W., Burschka, D., Hager, G. (2004).  Real-time 3D surface tracking and its applications.  Computer Vision and Pattern Recognition Workshop, 2004. CVPRW’04. Conference on.  34–34.
  • Burschka, D., Li, M., Taylor, R., Hager, G. (2004).  Scale-Invariant Registration of Monocular Endoscopic Images to CT-Scans for Sinus Surgery.  Int. Symp. on Medical Image Computing and Computer-Assisted Interventions (MICCAI).  Springer.  2.  413-421.
  • Burschka, D., Li, M., Taylor, R., Hager, G. (2004).  Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models.  IEEE Int. Conf. on Robots and Systems (IROS).  2581-2586.
  • Burschka, D., Hager, G. (2004).  V-GPS (SLAM): Vision-based inertial system for mobile robots.  Robotics and Automation, 2004. Proceedings. ICRA’04. 2004 IEEE International Conference on.  1.  409–415.
  • Corso, J., Burschka, D., Hager, G. (2003).  Direct plane tracking in stereo images for mobile navigation.  Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on.  1.  875–880.
  • Pembeci, I., Hager, G. (2003).  Functional reactive programming as a hybrid system framework.  Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on.  1.  727–734.
  • Dodds, Z., Hager, G. (2003).  Handling discontinuities in stereovisual alignment tasks.  Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on.  1.  479–484.
  • Kragic, D., Hager, G. (2003).  Notice of Correction< BR>< BR> Task modeling and specification for modular sensory based human-machine cooperative systems.  Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on.  4.  3192–3197.
  • Burschka, D., Geiman, J., Hager, G. (2003).  Optimal landmark configuration for vision-based control of mobile robots.  Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on.  3.  3917–3922.
  • Burschka, D., Hager, G., Dodds, Z., Jägersand, M., Cobzas, D., Yerex, K. (2003).  Recent Methods for Image-Based Modeling and Rendering..  VR.  299.
  • Marayong, P., Li, M., Okamura, A. M., Hager, G. (2003).  Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures.  Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on.  2.  1954–1959.
  • Abbott, J. J., Hager, G., Okamura, A. M. (2003).  Steady-hand teleoperation with virtual fixtures.  Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003. The 12th IEEE International Workshop on.  145–151.
  • Corso, J. J., Burschka, D., Hager, G. (2003).  The 4D Touchpad: Unencumbered HCI With VICs.  Computer Vision and Pattern Recognition Workshop, 2003. CVPRW’03. Conference on.  5.  55–55.
  • Burschka, D., Hager, G. (2003).  V-GPS-image-based control for 3d guidance systems.  Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on.  2.  1789–1795.
  • Ye, G., Corso, J. J., Hager, G., Okamura, A. M. (2003).  Vishap: Augmented reality combining haptics and vision.  Systems, Man and Cybernetics, 2003. IEEE International Conference on.  4.  3425–3431.
  • Hundtofte, C. S., Hager, G., Okamura, A. M. (2002).  Building a task language for segmentation and recognition of user input to cooperative manipulation systems.  Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002. Proceedings. 10th Symposium on.  225–230.
  • Burschka, D., Hager, G. (2002).  Dynamic composition of tracking primitives for interactive vision-guided navigation.  Intelligent Systems and Advanced Manufacturing.  114–125.
  • Pembeci, I., Nilsson, H., Hager, G. (2002).  Functional reactive robotics: An exercise in principled integration of domain-specific languages.  Proceedings of the 4th ACM SIGPLAN international conference on Principles and practice of declarative programming.  168–179.
  • Burschka, D., Hager, G. (2002).  Scene classification from dense disparity maps in indoor environments.  Pattern Recognition, 2002. Proceedings. 16th International Conference on.  3.  708–712.
  • Dai, X., Hager, G., Peterson, J. (2002).  Specifying behavior in C++.  Robotics and Automation, 2002. Proceedings. ICRA’02. IEEE International Conference on.  1.  153–160.
  • Burschka, D., Lee, S., Hager, G. (2002).  Stereo-based obstacle avoidance in indoor environments with active sensor re-calibration.  Robotics and Automation, 2002. Proceedings. ICRA’02. IEEE International Conference on.  2.  2066–2072.
  • Bettini, A., Lang, S., Okamura, A., Hager, G. (2002).  Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales.  Robotics and Automation, 2002. Proceedings. ICRA’02. IEEE International Conference on.  4.  3354–3361.
  • Kumar, R., Barnes, A. C., Hager, G., Jensen, P. S., Taylor, R. (2001).  Applications of Task-Level Augmentation for Cooperative Fine Manipulation Tasks in Surgery.  Medical Image Computing and Computer-Assisted Intervention – MICCAI 2001.  Springer.  LNCS 2208.  1417-1418.
  • Dai, X., Lu, L., Hager, G. (2001).  Real-time video mosaicing with adaptive parameterized warping.  In IEEE Computer Society Conference on Computer Vision and Pattern Recognition, volume (Demo Program.
  • Burschka, D., Hager, G. (2001).  Vision-based control of mobile robots.  Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on.  2.  1707–1713.
  • Kumar, R., Hager, G., Barnes, A., Jensen, P., Taylor, R. (2000).  An Augmentation System for Fine Manipulation.  Medical Image Computing and Computer-Assisted Interventions (MICCAI).  Springer Lecture Notes in Computer Science.  1935.  956-965.
  • Hager, G., Dodds, Z. (2000).  On specifying and performing visual tasks with qualitative object models.  Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on.  1.  636–643.
  • Peterson, J., Hager, G., Hudak, P. (1999).  A language for declarative robotic programming.  Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on.  2.  1144–1151.
  • Bendiksen, A., Hager, G. (1999).  Fast 3D boundary computation from occluding contour motion.  Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on.  3.  1934–1941.
  • Lee, S., You, B., Hager, G. (1999).  Model-based 3D object tracking using projective invariance.  Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on.  2.  1589–1594.
  • Dodds, Z., Hager, G., Morse, A Stephen., Hespanha, J. P. (1999).  Task specification and monitoring for uncalibrated hand/eye coordination.  Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on.  2.  1607–1613.
  • Kim, H., You, B., Hager, G., Oh, S., Lee, C. W. (1999).  Three-dimensional pose determination for a humanoid robot using binocular head system.  Intelligent Robots and Systems, 1999. IROS’99. Proceedings. 1999 IEEE/RSJ International Conference on.  2.  1204–1209.
  • Hespanha, J., Dodds, Z., Hager, G., Morse, A Stephen. (1998).  Decidability of robot positioning tasks using stereo vision systems.  Decision and Control, 1998. Proceedings of the 37th IEEE Conference on.  4.  3736–3741.
  • Marchand, E., Hager, G. (1998).  Dynamic sensor planning in visual servoing.  Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on.  3.  1988–1993.
  • Rasmussen, C., Hager, G. (1998).  Joint probabilistic techniques for tracking multi-part objects.  Computer Vision and Pattern Recognition, 1998. Proceedings. 1998 IEEE Computer Society Conference on.  16–21.
  • Hager, G., Kriegman, D., Georghiades, A. S., Ben-Shahar, O. (1998).  Toward domain-independent navigation: Dynamic vision and control.  Decision and Control, 1998. Proceedings of the 37th IEEE Conference on.  3.  3257–3262.
  • Dodds, Z., Hager, G. (1997).  A color interest operator for landmark-based navigation.  AAAI/IAAI.  655–660.
  • Toyama, K., Hager, G. (1997).  If at first you don’t succeed....  AAAI/IAAI.  3–9.
  • Hager, G., Kriegman, D., Teh, E., Rasmussen, C. (1997).  Image-based prediction of landmark features for mobile robot navigation.  Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on.  2.  1040–1046.
  • Chang, W., Hespanha, J. P., Morse, A Stephen., Hager, G. (1997).  Task re-encoding in vision-based control systems.  Decision and Control, 1997., Proceedings of the 36th IEEE Conference on.  1.  48–53.
  • Toyama, K., Hager, G. (1996).  Incremental focus of attention for robust visual tracking.  Computer Vision and Pattern Recognition, 1996. Proceedings CVPR’96, 1996 IEEE Computer Society Conference on.  189–195.
  • Son, J. S., Howe, R. D., Wang, J., Hager, G. (1996).  Preliminary results on grasping with vision and touch.  Intelligent Robots and Systems’ 96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on.  3.  1068–1075.
  • Hager, G., Belhumeur, P. N. (1996).  Real-time tracking of image regions with changes in geometry and illumination.  Computer Vision and Pattern Recognition, 1996. Proceedings CVPR’96, 1996 IEEE Computer Society Conference on.  403–410.
  • Toyama, K., Hager, G., Wang, J. (1996).  SERVOMATIC: a modular system for robust positioning using stereo visual servoing.  Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on.  3.  2636–2642.
  • Kim, D., Rizzi, A. A., Hager, G., Zoditschek, D. (1995).  A “robust” convergent visual servoing system.  Intelligent Robots and Systems 95.’Human Robot Interaction and Cooperative Robots’, Proceedings. 1995 IEEE/RSJ International Conference on.  1.  348–353.
  • Hager, G. (1995).  Calibration-free visual control using projective invariance.  Computer Vision, 1995. Proceedings., Fifth International Conference on.  1009–1015.
  • Toyama, K., Hager, G. (1995).  Keeping your eye on the ball: Tracking occluding contours of unfamiliar objects without distraction.  Intelligent Robots and Systems 95.’Human Robot Interaction and Cooperative Robots’, Proceedings. 1995 IEEE/RSJ International Conference on.  1.  354–359.
  • Hager, G., Toyama, K. (1995).  Modular Tools for Robotic Hand-Eye Coordination.  Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on.  3.  V3.
  • Toyama, K., Hager, G. (1995).  Tracker fusion for robustness in visual feature tracking.  Photonics East’95.  38–49.
  • Hager, G., Grunwald, G., Hirzinger, G. (1994).  Feature-based visual servoing and its application to telerobotics.  Intelligent Robots and Systems’ 94.’Advanced Robotic Systems and the Real World’, IROS’94. Proceedings of the IEEE/RSJ/GI International Conference on.  1.  164–171.
  • Hager, G. (1994).  Real-time feature tracking and projective invariance as a basis for hand-eye coordination.  Computer Vision and Pattern Recognition, 1994. Proceedings CVPR’94., 1994 IEEE Computer Society Conference on.  533–539.
  • Hager, G., Chang, W., Morse, A Stephen. (1994).  Robot feedback control based on stereo vision: Towards calibration-free hand-eye coordination.  Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on.  2850–2856.
  • Hager, G., Engelson, S. P., Atiya, S. (1993).  On comparing statistical and set-based methods in sensor data fusion.  Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on.  352–358.
  • Hager, G. (1992).  Constraint solving methods and sensor-based decision-making.  Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on.  1662–1667.
  • Grunwald, G. A., Hager, G. (1992).  Toward task-directed planning of cooperating sensors.  Applications in Optical Science and Engineering.  214–225.
  • Hager, G. (1991).  Deciding not to decide using resource-bounded sensing.  Fibers’ 91, Boston, MA.  379–390.
  • Hager, G. (1991).  Set-based estimation: Towards task-directed sensing.  Electrotechnical Conference, 1991. Proceedings., 6th Mediterranean.  1205–1208.
  • Hager, G. (1991).  Using resource-bonded sensing in telerobotics.  Advanced Robotics, 1991.’Robots in Unstructured Environments’, 91 ICAR., Fifth International Conference on.  199–204.
  • Hager, G. (1990).  A Comparison of Information Gathering Approaches.  1989 Advances in Intelligent Robotics Systems Conference.  211–222.
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