2008

Zachary Pezzementi, Sarthak Misra, Daniel Ursu, Allison Okamura. Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method. In Haptics Symposium, March 2008.
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Hassan Rivaz, Emad Boctor, Pezhman Foroughi, Richard Zellars, Gabor Fichtinger, and Gregory Hager. Ultrasound elastography, a dynamic programmimg approach. IEEE Trans. Medical Imaging, In press 2008.
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J. Corso and D. Burschka, and G. Hager. A Practical Paradigm and Platform for Video-Based Human-Computer Interaction. IEEE Computer, 2008. To Appear.
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Hanzi Wang, Daniel Mirota, Gregory Hager, and Masaru Ishii. Anatomical reconstruction from endoscopic images: Toward quantitative endoscopy. American Journal of Rhinology, 22(1):47-51, January/February 2008.
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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. In MMVR, 2008.
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Ioana Fleming, Sandrine Voros, Balazs Vagvolgyi, Zachary Pezzementi, James Handa, Russell Taylor, and Gregory Hager. Intraoperative visualization of anatomical targets in retinal surgery. In IEEE WACV, 2008.
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2007

Vinutha Kallem, Maneesh Dewan, John Swensen, Gregory D. Hager, and Noah J. Cowan. Kernel Based Visual Servoing. Accepted for Presentation in IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2007.
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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 In Proceedings of IEEE Int. Ultrasonics Symp., pages 781-784, October 2007.
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Maneesh Dewan, Christine H. Lorenz, and Gregory D. Hager. Deformable Motion Tracking of Cardiac Structures (DEMOTRACS) for Improved MR Imaging. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, June 2007.
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Le Lu and Gregory D. Hager. A nonparametric treatment for location/segmentation based visual tracking. In In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, June 2007.
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M. Dewan, D. Mayhew, A. Greiser, G. D. Hager and C. H. Lorenz. Image-Based Tracking of Heart Valves for Improved Motion Compensation. In Proceedings of the International Society for Magnetic Resonance Medicine (ISMRM), 15th Scientific Meeting in Berlin, Germany (Oral Presentation), page 870, May 2007.
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Zachary Pezzementi, Allison Okamura, Gregory D. Hager. Dynamic Guidance with Pseudoadmittance Virtual Fixtures. In International Conference on Robotics and Automation (ICRA), pages 1761-1767, April 2007.
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Alexandre Krupa, Gabor Fichtinger and Gregory Hager. Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing. In International Conference on Robotics and Automation (ICRA), pages 2458-2464, April 2007.
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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. In International Conference on Robotics and Automation (ICRA), pages 623-629, April 2007.
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H. Rivaz, E. Boctor, and G. Fichtinger. A robust meshing and calibration approach for sensorless freehand 3d ultrasound. In In Proceedings of SPIE Medical Imaging, volume 6583, pages 181-188, February 2007.
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Gregory Hager, Balazs Vagvolgyi and David Yuh. Stereoscopic Video Overlay with Deformable Registration. Medicine Meets Virtual Reality, 2007.
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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.
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Alexandre Krupa, Gabor Fichtinger, and Gregory D. Hager. Real-time tissue tracking with b-mode ultrasound using speckle and visual servoing. In MICCAI, volume 2, pages 1-8, 2007.
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2006

Le Lu and Gregory D. Hager. Dynamic foreground/background extraction from images and videos using random patches. In Proc. NIPS, pages 929-936, December 2006.
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Maneesh Dewan, Gregory D. Hager, and Christine H. Lorenz. Robust Image-Based Motion Tracking for Coronary MR Angiography. In the 1st International Workshop on Computer Vision for Intravascular and Intracardiac Imaging (CVII), in conjunction with MICCAI 2006, pages 171-78, Oct 2006.
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H. Rivaz, E. Boctor, and G. Fichtinger. Ultrasound speckle detection using low order moments. In In Proceedings of IEEE Int. Ultrasonics Symp., pages 2092-2095, October 2006.
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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):220-230, September 2006.
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Maneesh Dewan and Gregory D. Hager. Toward Optimal Kernel-based Tracking. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 1:618-625, June 2006.
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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):581-592, June 2006.
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Maneesh Dewan, Gregory D. Hager, Steven M. Shea, and Christine H. Lorenz. Compensating for Beat-to-Beat Variation in Coronary Motion Improves Image Quality in Coronary MR. In Proceedings of the International Society for Magnetic Resonance Medicine (ISMRM), 14th Scientific Meeting in Seattle, Washington, USA, page 2159, May 2006.
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Maneesh Dewan, Gregory D. Hager, and Christine H. Lorenz. Image-Based Tracking and Prediction of Coronary Motion for Coronary MR Angiography. In Proceedings of the 9th Annual Meeting of the Society for Cardiovascular Magnetic Resonance (SCMR), January 2006.
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Le Lu and Rene Vidal. Combined central and subspace clustering on computer vision applications. In International Conference of Machine Learning, 2006.
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E.M. Boctor, I. Iordachita, G.D. Hager and G. Fichtinger. Bootstrapped Ultrasound Calibration . Medicine Meets Virtual Reality, 2006.
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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.
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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.
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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, pages 109-115, 2006.
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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. In Proc. of International Conference on Robotics and Automation (ICRA), pages 225-230, 2006.
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Sharmishtaa Seshamani, William Lau, Gregory D. Hager. Real-time Endoscopic Mosaicking. In MICCAI, pages 355-363, 2006.
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Sharmishtaa Seshamani, Cameron Riviere, James T. Handa, Louis Lobes, Gregory D. Hager. Visual Measurement of Microsurgical Motion with Application to Robotic Augmentation. In Northeast Bioengineering Conference, pages 39-40, 2006.
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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. In Ninth International Conference on Medical Image Computing and Computer-Assisted Intervention, volume 4191, pages 405-412. Springer, 2006.
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E.M. Boctor, I. Iordachita, G. Fichtinger, G.D. Hager. Ultrasound Self-Calibration. In Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display; Kevin R. Cleary, Robert L. Galloway, Jr.; Eds., volume 6141, pages 784-795, 2006.
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I. Iordachita, A. Kapoor, B. Mitchell, P. Kazanzides, G. Hager, J. Handa, R. Taylor. Steady-Hand Manipulator for Retinal Surgery. In MICCAI Workshop on Medical Robotics, Edited by K. Cleary, N. Hata, P. Kazanzides , pages 66-73, 2006.
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2005

Xiangtian Dai. Component-Based Tracking, October 2005. PhD Thesis, The Johns Hopkins University.
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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):413-439, October 2005. Best Paper Award at MICCAI 2005.
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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):242-252, September 2005. The original publication is available at www.springerlink.com.
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Jason J. Corso. Techniques for Vision-Based Human-Computer Interaction. PhD thesis, Department of Computer Science, The Johns Hopkins University, August 2005.
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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, 17:841-848, July 2005.
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Guangqi Ye. Applying Vision to Intelligent Human-Computer Interaction, 2005. PhD Thesis, The Johns Hopkins University.
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Darius Burschka, Guangqi Ye, Jason J. Corso, and Gregory D. Hager. A Practical Approach for Integrating Vision-Based Methods into Interactive 2D/3D Applicationsa. Technical report, The Johns Hopkins University, 2005. CIRL Lab Technical Report CIRL-TR-05-01.
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Guangqi Ye, Jason J. Corso, and Gregory D. Hager. Real-Time Vision for Human-Computer Interaction, chapter 7: Visual Modeling of Dynamic Gestures Using 3D Appearance and Motion Features, pages 103-120. Springer-Verlag, 2005.
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Le Lu and Kentaro Toyama and Gregory D. Hager. A Two Level Approach for Scene Recognition. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2005), 1:688-695, 2005.
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Jason J. Corso and Gregory D. Hager. Coherent Regions for Concise and Stable Image Description. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2005), 2:184-190, 2005.
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Le Lu and Xiangtian Dai and Gregory D. Hager. Efficient Particle Filtering Using RANSAC with Application to 3D Face Tracking. Image and Vision Computing, 2005. Submission for special issue of FPIV'04.
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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, pages 802-810, 2005. Best Paper Award at MICCAI 2005.
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Darius Burschka, Jason J. Corso, Maneesh Dewan, William W. Lau, Ming Li, Henry Lin, Panadda Marayong, Nicholas A. Ramey, Gregory D. Hager, Brian Hoffman, David Larkin, and Christopher J. Hasser. Navigating inner space: 3-D assistance for minimally invasive surgery . Robotics and Autonomous System, 52(1):5-26, 2005.
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D. Burschka and G.D. Hager. Vision-Based 3D Scene Analysis for Driver Assistance. ICRA, 2005.
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Joshua Leven and Darius Burschka and Rajesh Kumar and Gary Zhang and Steve Blumenkranz and Xiangtian (Donald) Dai and Mike Awad and Gregory D. Hager and Mike Marohn and Mike Choti and Christopher J. Hasser and Russell H. Taylor. DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability. In MICCAI, pages 811-818, 2005.
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D. Burschka and G.D. Hager. Vision-based Inspection of Structural Changes respective to Pre-operative CT-Scans with Monocular Endoscope Cameras. CURAC, 2005.
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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.
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E.M. Boctor, I. Iordachita, G. Fichtinger and G. Hager. Real-Time Quality Control of Tracked Ultrasound. In MICCAI 2005, LNCS 3749, pages 621-630, 2005.
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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. In William F. Walker, Stanislav Y. Emelianov, editor, SPIE Medical Imaging 2005: Ultrasonic Imaging and Signal Processing, volume 5750, pages 516-523, 2005.
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D. Kragic, P. Marayong, M. Li, A.M. Okamura, and G.D. Hager. Human-Machine Collaborative Systems for Microsurgical Applications. The International Journal of Robotics Research, 24(9):731-741, 2005.
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E.M. Boctor, I. Iordachita, G. Fichtinger, G.D. Hager. Bootstrapped Ultrasound Calibration. In Stud Health Technol Inform., volume 119, pages 61-6, 2005.
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2004

Long Quan , Yichen Wei , Le Lu and Heung-Yeung Shum. Constrained Planar Motion Analysis by Decomposition . Image and Vision Computing, 22:379-389, May 2004.
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Darius Burschka and Gregory D. Hager. V-GPS(SLAM): - Vision-Based Inertial System for Mobile Robots. In Proc. of ICRA, pages 409-415, April 2004.
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Guangqi Ye, Jason J. Corso, Darius Burschka, and Gregory D. Hager. Vics: A modular hci framework using spatio-temporal dynamics. Machine Vision and Applications, 16(1):13-20, 2004. The original publication is available at www.springerlink.com.
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Guangqi Ye, Jason J. Corso, and Gregory D. Hager. Gesture Recognition Using 3D Appearance and Motion Features. In Proceedings of CVPRHCI, 2004.
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Jason J. Corso, Maneesh Dewan, and Gregory D. Hager. Image Segmentation Through Energy Minimization Based Subspace Fusion. In Proceedings of 17th International Conference on Pattern Recogntion (ICPR 2004), volume 2, pages 120-123, 2004.
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Jason J. Corso, Maneesh Dewan, and Gregory D. Hager. Image Segmentation Through Energy Minimization Based Subspace Fusion. Technical Report CIRL-TR-04-01, The Johns Hopkins University, 2004.
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Nicholas A. Ramey, Jason J. Corso, William W. Lau, Darius Burschka, and Gregory D. Hager. Real Time 3D Surface Tracking and Its Applications. In Proceedings of Workshop on Real-time 3D Sensors and Their Use (at CVPR 2004), 2004.
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Darius Burschka and Gregory D. Hager. Principle and Practice of Real-Time Visual Tracking for Navigation and Mapping. In IEEE Workshop on Robotic Sensing: Robotics in the Automotive Industry, ROSE, 2004. (to appear).
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Gregory D. Hager, Maneesh Dewan, and Charles V. Stewart. Multiple Kernel Tracking with SSD. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), volume 1, pages 790-797, 2004.
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Giambattista Gennari and Gregory D. Hager. Probabilistic data association methods in visual tracking of groups. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), pages 876-881, 2004.
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William W. Lau, Nicholas A. Ramey, Jason J. Corso, Nitish Thakor, and Gregory D. Hager. Stereo-Based Endoscopic Tracking of Cardiac Surface Deformation. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 494-501, 2004.
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Maneesh Dewan, Panadda Marayong, Allison Okamura, and Gregory D. Hager. Vision-Based Assistance for Ophthalmic Micro-Surgery. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 49-57, 2004.
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D. Burschka, M. Li, R.H. Taylor, and G.D. Hager. Scale-Invariant Registration of Monocular Endoscope Images to CT-Scans For Sinus Surgery. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 2, pages 413-421, 2004.
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A. Viswanathan, E.M. Boctor, R.H. Taylor, G.D. Hager, and G. Fichtinger. Immediate Ultrasound Calibration from Two Poses and Minimal Image Processing. In Proceedings of Seventh International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), volume 3217, pages 446-454, 2004.
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E. Boctor, A. Viswanathan, M. Choti, R.H. Taylor, G. Fichtinger, and G.D. Hager. A Novel Closed Form Solution For Ultrasound Calibration. In Proceedings of ISBI, pages 527-530, 2004.
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Darius Burschka, Ming Li, Russell Taylor, and Gregory D. Hager. Scale-Invariant Registration of Monocular Stereo Images to 3D Surface Models. In Proceedings of IROS, pages 2581-2586, 2004.
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Le Lu, Xiangtian Dai, and G. Hager. A Particle Filter without Dynamics for Robust 3D Face Tracking. In IEEE Workshop of Face Processing in Video Jointed with CVPR 2004, 2004. oral presentation.
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A. Bettini, P. Marayong, S. Lang, A. M. Okamura, and G. D. Hager. Vision Assisted Control for Manipulation Using Virtual Fixtures. IEEE Transactions on Robotics, 20(6):953-966, 2004.
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Darius Burschka, Jason J. Corso, Maneesh Dewan, Gregory D. Hager, William Lau, Ming Li, Henry Lin, Panadda Marayong, and Nicholas Ramey. Navigating Inner Space: 3-D Assistance for Minimally Invasive Surgery . In Workshop on Advances in Robot Vision - From Domestic Environments to Medical Application, (D. Kragic and H. Christensen, eds.), IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004, Sendai, Japan, 2004.
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2003

D. Kragic, P. Marayong, M. Li, A. M. Okamura, and G. D. Hager. Human-Machine Collaborative Systems for Microsurgical Applications. In B. Siciliano, O. Khatib, and F.C.A. Groen, editors, In International Symposium on Robotics Research, October 2003.
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D. Kragic and G. D. Hager. Task modeling and specification for modular sensory based human-machine cooperative systems. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 4, pages 3192-3197, October 2003.
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Darius Burschka and Gregory D. Hager. V-GPS - Image-Based Control for 3D Guidance Systems. In Proc. of IROS, pages 1789-1795, October 2003.
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Darius Burschka, Jeremy Geiman, and Gregory D. Hager. Optimal Landmark Configuration for Vision-Based Control of Mobile Robots. In Proc. of International Conference on Robotics and Automation (ICRA), pages 3917-3922, September 2003.
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Gregory Hager Xiangtian Dai, Le Lu. Real-time video mosaicing with adaptive parameterized warping. In CVPR 2003: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, May 2003.
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Darius Burschka and Gregory D. Hager. Principles and Practice of Real Time Tracking on Consumer Hardware . In Tututial 1 at IEEE VR2003: Recent Methods for Image-Based Modeling and Rendering, pages 55-66, March 2003.
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Jason Corso, Darius Burschka, and Gregory D. Hager. The 4DT: Unencumbered HCI With VICs. In Proceedings of CVPRHCI, 2003.
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Jason Corso, Darius Burschka, and Gregory D. Hager. Direct Plane Tracking in Stereo Image for Mobile Navigation. In Proceedings of International Conference on Robotics and Automation, pages 875-880, 2003.
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Guangqi Ye, Jason Corso, Darius Burschka, and Gregory D. Hager. VICs: A Modular Vision-Based HCI Framework. In Proceedings of 3rd International Conference on Computer Vision Systems, pages 257-267, 2003.
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Myron Z. Brown, Darius Burschka, and Gregory D. Hager. Advances in Computational Stereo. IEEE Transactions on Pattern Analysis and Machine Intelligence, 25(8):993-1008, 2003.
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Myron Z. Brown, Darius Burschka, and Gregory D. Hager. Shape and appearance in object recognition. 2003.
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Izzet Pembeci and Gregory D. Hager. Functional reactive programming as a hybrid systems framework. In Proc. ICRA, volume 1, pages 727-734, 2003.
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Izzet Pembeci. Functional Reactive Programming as a Framework for Hybrid Systems and Robot Programming, 2003. PhD Thesis.
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P. Marayong, M. Li, A. Okamura, and G. Hager. Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures. In Proc. ICRA, 2003. To Appear.
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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. In press.
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Le Lu, Xiangtian Dai, and Gregory D. Hager. Real Time Video Mosaicing - Technical Report. Technical report, The Johns Hopkins University, 2003. CIRL Technical Report.
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Jason J. Corso, Nicholas Ramey, and Gregory D. Hager. Stereo-Based Direct Surface Tracking with Deformable Parametric Models. Technical Report 02, The Johns Hopkins University, 2003. CIRL Technical Report.
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Guangqi Ye, Jason J. Corso, Gregory D. Hager, and Allison M. Okamura. VisHap: Augmented Reality Combining Haptics and Vision. In Proceedings of IEEE International Conference on Systems, Man and Cybernetics, pages 3425-3431, 2003.
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Guangqi Ye, Jason J. Corso, Gregory D. Hager, and Allison M. Okamura. Augmented Reality Combining Haptics and Vision. Technical Report 03, The Johns Hopkins University, 2003. CIRL Technical Report.
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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. In Proc. PPDP, October 2002.
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Gregory D. Hager. Human-machine cooperative manipulation with vision-based motion constraints. In Proc. Workshop on Visual Servoing, with IROS, 2002.
[ bib | .pdf ]

Jason Corso and Gregory D. Hager. Planar surface tracking using direct stereo. Technical report, The Johns Hopkins University, 2002. CIRL Lab Technical Report.
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Guangqi Ye and Gregory D. Hager. Appearance-based visual interaction. Technical report, 2002. CIRL Lab Technical Report, the Johns Hopkins University.
[ bib | .pdf ]

Izzet Pembeci and Gregory D. Hager. A comparative review of robot programming languages. Technical report, 2002. CIRL Lab Technical Report.
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A. Bettini, S. Lang, A. Okamura, and G. Hager. Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3354-3361, 2002.
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X. Dai and G. Hager. Specifying behavior in C++. In International Conference on Robotics and Automation, pages 153-160, 2002.
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S. Hundtofte, A. Okamura, and G. Hager. Building a task language for segmentation and recognition of user input to cooperative manipulation systems. In Proc. 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 225-230, 2002.
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D. Burschka and G. Hager. Stereo-Based Obstacle Avoidance in Indoor Environments with Active Sensor Re-Calibration. In International Conference on Robotics and Automation, pages 2066-2072, 2002.
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D. Burschka and G. Hager. Scene Classification from Dense Disparity Maps in Indoor Environments. In Proc. ICPR, 2002.
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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, pages 417-426, Nov. 2002.
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2001

D. Burschka and G. Hager. Dynamic composition of tracking primitives for interactive vision-guided navigation. In Proc. of SPIE 2001, Mobile Robots XVI, pages 114-125, November 2001.
[ bib | .pdf ]

Samuel J. Lang. Xvision2: A framework for dynamic vision, 2001.
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John Peterson, Greg Hager, Paul Hudak, and Alastair Reid. Fvision: A declarative language for visual tracking. In Proc. 3rd International Workshop on Practical Aspects of Declarative Languages, 2001.
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G. Hager and C. Rasmussen. Joint probabilistic techniques for tracking multi-part objects. IEEE PAMI, 23(6):560-576, 2001.
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G. Hager, H. Christensen, and H. Bunke, editors. Sensor-Based Robots. Lecture Notes in Computer Science. Springer-Verlag, 2001.
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G. Hager, J. Peterson, P. Hudak, and A. Reid. Fvision: A declarative language for visual tracking. In Proceedings of PADL, 2001.
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D. Burschka and G. Hager. Vision-based control of mobile robots. In Proc. International Conference on Robotics and Automation, pages 1707-1713, 2001.
[ bib ]

A. Bettini, S. Lang, A. Okamura, and G. Hager. Vision assisted control for manipulation using virtual fixtures. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1171-1176, 2001.
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2000

Rajesh Kumar, Gregory D. Hager, Aaron Barnes, Patrick Jensen, and Russell H. Taylor. An augmentation system for fine manipulation. In Proceedings of Medical Image Computing and Computer Assisted Intervention, pages 956-965. Springer-Verlag, October 2000.
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G. Hager and D. Burschka. Laser-based position tracking and map generation. In Proceedings of RA, pages 149-155, August 2000.
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John Peterson, Paul Hudak, Alastair Reid, and Greg Hager. Fvision: A declarative language for visual tracking. In Proceedings of PADL, 2000.
[ bib ]

G. Hager, C-P. Lu, and E. Mjolsness. Object pose from video images. PAMI, 22(6):610-622, 2000.
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G. Hager and J. Peterson. A transformational approach to the design of robot software. In Proceedings of the Ninth International Syposium on Robotics Research, pages 257-264. Springer-Verlag, 2000.
[ bib | .pdf ]

G. Hager. On specifying and performing visual tasks with qualitative object models. In International Conference on Robotics and Automation, pages 3354-3361, 2000.
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1999

G. Hager, J. Hespanha, Z. Dodds, and A.S. Morse. What tasks can be performed with an uncalibrated stereo vision system? International Journal of Computer Vision, 35(1):65-85, November 1999.
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G. Hager and K. Toyama. Incremental focus of attention for robust visual tracking. International Journal of Computer Vision, 35(1):45-63, November 1999.
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G. Hager, P. Belhumeur, J. Duncan, D. McDermott, A.S. Morse, and S. Zucker. Computational vision at yale. International Journal of Computer Vision, 35(1):5-12, November 1999.
[ bib ]

John Peterson and Greg Hager. Monadic robotics, October 1999. Proceedings of the Workshop on Domain Specific Languages, Usenix.
[ bib ]

G. Hager and P. Belhumeur. Tracking in 3d: Image variability decomposition for recovering object pose and illumination. Pattern Analysis and Applications, March 1999.
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Z. Dodds, M. Jägersand, and G. Hager. A hierarchical architecture for vision-based robotic manipulation tasks. In H. I. Christensen, editor, First Int. Conf. on Computer Vision Systems, volume 542 of Lecture Notes in Computer Science, pages 312-330, January 1999.
[ bib ]

M. Vincze and G. Hager, editors. Robust Vision for Vision-Based Control of Motion. IEEE Computer Society Press, 1999.
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G. Hager and P. Belhumeur. Tracking in 3d: Image variability decomposition for recovering object pose and illumination. In Proceedings of the International Conference on Pattern Analysis and Applications, pages 93-102, 1999.
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G. Hager, S-W. Lee, and B-J. You. Model-based 3-d object tracking using projective invariance. In Proceedings of the International Conference on Robotics and Automation, 1999.
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G. Hager and A. Bendiksen. Fast 3d boundary computation from occluding contour motion. In Proceedings of the International Conference on Robotics and Automation, 1999.
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G. Hager, Z. Dodds, J. Hespanha, and A.S. Morse. Task specification and monitoring for uncalibrated hand/eye coordination. In Proceedings of the International Conference on Robotics and Automation, pages 1607-1613, 1999.
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G. Hager, J. Peterson, and P. Hudak. A language for declarative robotic programming. In Proceedings of the International Conference on Robotics and Automation, pages 1144-1151, 1999.
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G. Hager, A. Reid, J. Peterson, and P. Hudak. Prototyping real-time vision systems: An experiment in dsl design. In Proceedings of the International Conference on Software Engineering, pages 484-493, 1999.
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G. Hager, Z. Dodds, M. Jagersand, and K. Toyama. A hierarchical architecture for vision-based robotic manipulation tasks. In Proceedings of the International Conference on Vision Systems, pages 312-330, 1999.
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