Gregory D. Hager
Department of Computer Science
The Johns Hopkins University
3400 N. Charles St.
Baltimore, Maryland 21218
http://www.cs.jhu.edu/ hager
March 2, 2000

EDUCATION

Ph.D. in Computer Science, University of Pennsylvania, 1988
Dissertation: Active Reduction of Uncertainty in Multi-Sensor Systems
Advisor: Dr. Max Mintz

M.S.E. in Computer Science, University of Pennsylvania, 1985
Thesis: Computational Aspects of Proofs in Modal Logic
Advisor: Dr. Dale Miller

B.A. Summa Cum Laude, Luther College, Decorah, Iowa, 1983
Thesis: Heuristic Programming

POSITIONS HELD

Professor of Computer Science
The Johns Hopkins University, 1999-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.

Fulbright 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.

PROFESSIONAL AWARDS

Best Paper Nominations:


IEEE Trans. on Robotics and Automation, 1996.


International Symposium on Robotics Research, 1989.

Yale Junior Faculty Fellowship, 1995.

Fulbright 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.

PROFESSIONAL ACTIVITIES

      
Editorial Boards: 

IEEE Transactions on Robotics and Automation, 1997-present. 


Pattern Analysis and Applications, 1997-present.





Chair: 

Computer and Robot Vision Technical Committee of the 


IEEE Roboticsand Automation Society, 1996-present. 




Organizer: 

Workshop and Tutorials Chair, CVPR 2000. 


Workshop on Robust Vision for Control of Motion, 1998. 


Block Island Workshop on Vision and Control, 1997. 


Tutorial on Visual Control of Motion, 1996. 


Workshop on Visual Servoing, 1994.





Editor: 

Special Issue of the IEEE Transactions on Robotics andAutomation on Visual Servoing, 1996.





Program Committee Member: 

International Symposium on Robotics with Applications 2000.


Vision Algorithms Workshop (with ICCV'99), 1999.


Third Haskell Workshop (with ICFP'99), 1999.


IEEE International Conference on Computer Vision and Pattern Recognition1996-1999. 


International Conference on Computer Vision 1999. 


International Conference on Robotics and Automation 1997,1999. 


World Manufacturing Congress, 1997.  


AAAI Conference 1996. 


International Symposium on Robotics and Manufacturing 1996.


Multisensor Fusion and Integration for Intelligent Systems, 1994, 1996.


IEEE International Conference on Intelligent Robotics Systems, 1994, 1996.


SPIE Sensor Fusion Workshop 1991-1997.





Invited Speaker: 

2000 Keynote Speaker: Multimedia Computing and Networking 2000.


1999 DIMACS Workshop on Computer Vision and Robotics, Rutgers University.


1999 Workshop on Automated Control of Distributed Instrumentation,University of Illinois.


1999 First Annual Computational Neuroscience Symposium, University of Minnesota 


1997 Workshop on Control Problems in Robotics andAutomation, CDC 1997. 


1995 Joint Slovenia/Austrian Workshop on Computer Vision, Marberg, Slovenia. 


1994 Dagstuhl Workshop on the Mathematical Foundations of Vision,Dagstuhl, Germany.


1992 AAAI Spring Symposium, Stanford University. 


1992 Allerton Conference, University of Illinois. 


1991 Conference on Mathematical Methods of Robotics, Freiberg Germany. 


1989 Annual Stockholm Vision Workshop, Stockholm, Sweden.


1989 German Special Committee Meeting on Robotic Control, Dortmund,Germany. 




NSF Panels: 


CISE Postdoctoral Research Associates in Experimental ComputerScience


Career Awards


Challenges in CISE 


Computer Vision 

		 ``Future Directions in Robotics,'' 1991.





Consulting: 

Smart Systems Technology


ABB Inc.


Siemens 


United Technologies Research Center


Microsoft Inc.

PATENTS

A Vision-based Six-degree-of-freedom Computer Input Device (with K. Toyama), U.S. Patent 60/012,761 issued November, 1998.

PUBLICATIONS

Journal Articles:

1.

Joint Probabilistic Techniques for Tracking Multi-Part Objects (with C. Rasmussen). Submitted to IEEE PAMI, February, 1999.

2.

What Tasks Can Be Performed with an Uncalibrated Stereo Vision System? (with J. Hespanha, Z. Dodds, and A.S. Morse). The International Journal of Computer Vision, 35(1): pp. 65-85, Nov. 1999.

3.

Object Pose from Video Images (with C-P. Lu and E. Mjolsness). Accepted to appear in IEEE PAMI, (submitted February 1998).

4.

Incremental Focus of Attention for Robust Visual Tracking (with K. Toyama). The International Journal of Computer Vision, 35(1): pp. 45-63, Nov. 1999.

5.

Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illumination (with P. Belhumeur). Accepted to appear in the Pattern Analysis and Applications, March, 1999.

6.

Efficient Region Tracking with Parametric Models of Geometry and Illumination (with P. Belhumeur). IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(10), pp. 1125-1139, 1998.

7.

The XVision System: A General-Purpose Substrate for Portable Real-Time Vision Applications (with K. Toyama). Computer Vision and Image Understanding, 69(1), pp. 23-37, 1998.

8.

A Modular System for Robust Hand-Eye Coordination Using Feedback from Stereo Vision. IEEE Transactions on Robotics and Automation, 13(4) pp. 582-595, 1997.

9.

A Tutorial Introduction to Visual Servo Control (with S. Hutchinson and P. Corke). IEEE Transactions on Robotics and Automation, 12(5) pp. 651-670, 1996 (one of five nominated for best transactions article of 1996).

10.

Online Computation of Exterior Orientation with Application to Hand-Eye Calibration (with C.P. Lu and E. J. Mjolsness). Mathematical and Computer Modeling, 24(5), pp. 121-143, 1996.

11.

Robot Feedback Control Based on Stereo Vision: Towards Calibration-Free Hand-Eye Coordination (with W. Chang and A.S. Morse). IEEE Control Systems Magazine, 15(1), pp. 30-39, 1995.

12.

Task-Directed Computation of Qualitative Decisions from Sensor Data. IEEE Transactions on Robotics and Automation, 10(4), pp. 415-429, 1994.

13.

Solving Large Systems of Non-Linear Constraints with Application to Data Modeling. Interval Computations, 2, pp. 169-200, 1994.

14.

Real-Time Vision-Based Robot Localization (with S. Atiya). IEEE Transactions on Robotics and Automation, 9(6), pp. 785-800, 1993.

15.

Computational Methods for Task-Directed Sensor Data Fusion and Sensor Planning (with M. Mintz). International Journal of Robotics Research, 10(4), pp. 285-313, 1991.

Articles currently in preparation for journal submission:

1.

Task Specification and Execution for Uncalibrated Hand-Eye Systems (with Z. Dodds). In preparation for submission to the International Journal of Robotics Research

2.

Vision-based Tracking with Adaptive Color Models. (with C. Rasmussen). In preparation to be submitted to Videre.

3.

Fast 3D Boundary Computation from Occluding Contour Motion (with A. Bendiksen). In preparation for submission to IEEE PAMI.

4.

High Precision Tracking of Deformable Contours: A Dynamical Systems Approach (with Gaudenz Danuser). In preparation for submission to Computer Vision and Image Understanding.

Books:

1.

Task-Directed Sensor Fusion and Planning. Kluwer, Boston, 1990.

2.

The Confluence of Vision and Control (with D. Kriegman, and A.S. Morse, Editors) LNCIS series, Springer-Verlag, 1998.

3.

Robust Vision for Vision-Based Control of Motion (with M. Vincze, Editor) IEEE Computer Society Press, 1999.

Book Chapters:

1.

Research Issues in Vision and Control (with D. Kriegman and A.S. Morse) in The Confluence of Vision and Control (G. Hager D. Kriegman, and A.S. Morse, Editors) LNCIS series, Springer-Verlag, 1998.

2.

Feature-Based Visual Servoing and its Application to Telerobotics (with G. Grunwald and K. Toyama). In V. Graefe, editor, Intelligent Robotic Systems, Elsevier, Amsterdam, 1995.

3.

Robust Linear Rules for Nonlinear Systems. In J.K. Aggarwal, editor, Multisensor Fusion for Computer Vision, Springer-Verlag, 1993.

4.

Automatic Sensor Search and Positioning for Geometric Tasks (with M. Mintz). In S. Chen, editor, Recent Advances in Spatial Reasoning, Ablex, 1990.

Reviews, Editorials:

1.

Computational Vision at Yale (with Peter N. Belhumeur, James S. Duncan, Drew V. McDermott, A. Stephen Morse, Steven W. Zucker) International Journal of Computer Vision 35(1): 5-12, November 1999

2.

Introduction to the Special Section on Vision-Based Control of Robot Manipulators (with S. Hutchinson). IEEE Transactions on Robotics and Automation, 12(5) pp. 649-650, 1996.

3.

A Review of Active Vision. IEEE Expert, 8(4), 1993.

Invited Papers:

1.

FROB: A Transformational Approach to the Design of Robot Software, Proceedings of the International Symposium on Robotics Research, Oct. 1999 (proceedings to be published by Springer Verlag).

2.

On Specifying and Performing Visual Tasks with Qualitative Object Models, To appear in the International Conference on Robotics and Automation, 2000.

3.

Tracking in 3D: Image Variability Decomposition for Recovering Object Pose and Illumination (with P. Belhumeur). In the Proceedings of the International Conference on Pattern Analysis and Applications, pp. 93-102.

4.

Toward Domain-Independent Navigation: Dynamic Vision and Control, (with D. Kriegman, A. Georghiades and O. Ben-Shahar). In the proceedgins of the IEEE Conference on Decision and Control, special session on active vision, 1998.

5.

Vision-Based Robot Control (with P. Corke). In Control Problems in Robotics and Automation, Springer Verlag Lecture Notes in Control and Information Sciences 230, pp. 177-190, 1997.

6.

Modeling and Control for Mobile Manipulation in Everyday Environments (with W. Feiten, W. Magnussen and K. Toyama). In the Proceedings of the 1997 International Symposium on Robotics Research.

7.

A Projective Framework for Constructing Accurate Hand-Eye Systems (with Z. Dodds). In the Proceedings of the IEEE/RSJ/INRIA Workshop On New Trends in Image-Based Robot Servoing, pp. 71-82, 1997.

8.

The XVision System: A Paradigm for Real-Time Vision. In Visual Modules: Proceedings of the 19th ÖAGM and 1st SDVR Workshop, pp. 11-28, 1995.

9.

Sensor planning for reactive robot programs (with G. Grunwald). In Proceedings of the Allerton Conference on Communications, Computing and Control, Oct., 1992.

Peer-Reviewed Conferences:

1.

Model-based 3-D Object Tracking using Projective Invariance (with S-W Lee and B-J You). Proceedings of the International Conference on Robotics and Automation , 1999.

2.

Fast 3D Boundary Computation from Occluding Contour Motion (with A. Bendiksen). Proceedings of the International Conference on Robotics and Automation, 1999.

3.

Task Specification and Monitoring for Uncalibrated Hand/Eye Coordination (with Z. Dodds, J. Hespanha, and A.S. Morse). Proceedings of the International Conference on Robotics and Automation, pp. 1607-1613, 1999.

4.

A Language for Declarative Robotic Programming (with J. Peterson, and P. Hudak). Proceedings of the International Conference on Robotics and Automation, pp. 1144-1151, 1999.

5.

Prototyping Real-Time Vision Systems: An Experiment in DSL Design (with A. Reid, J. Peterson, and P. Hudak). Proceddings of the International Conference on Software Engineering, pp. 484-493, 1999.

6.

A Hierarchical Architecture for Vision-Based Robotic Manipulation Tasks (with Z. Dodds, M. Jagersand and K. Toyama). In Proceedings of the International Conference on Vision Systems, pp. 312-330, 1999.

7.

Decidability of Robot Positioning Tasks Using Stereo Vision Systems, (with J. Hespanha, Z. Dodds and A.S. Morse). In the Proceedings of the IEEE Conference on Decision and Control, 1998.

8.

Joint Probabilistic Techniques for Tracking Objects Using Multiple Visual Cues (with C. Rasmussen). In the proceedings of the IEEE International Conference on Intelligent Robots and Systems, 1998.

9.

Joint Probabilistic Techniques for Tracking Multi-Part Objects (with C. Rasmussen). In the proceedings of the IEEE International Conference on Computer Vision, 1998.

10.

Dynamic Sensor Planning in Visual Servoing (with E. Marchand). I n the proceedings of the 1998 IEEE International Conference on Robotics and Automation.

11.

What Can be Done With an Uncalibrated Stereo System? (with J. Hespanha and Z. Dodds). In the proceedings of the IEEE International Conference on Robotics and Automation, 1998.

12.

Task Re-Encoding in Vision-Based Control Systems (with W-C. Chang, J. P. Hespanha and A.S. Morse). In the Proceedings of the IEEE Conference on Decision and Control, 1997.

13.

If At First You Don't Succeed .... (with K. Toyama). In the Proceedings of the AAAI Conference on Artificial Intelligence, pp. 3-9, 1997.

14.

A Color Interest Operator for Landmark-based Navigation (with Z. Dodds). Proceedings of the AAAI Conference on Artificial Intelligence, pp. 655-660, 1997.

15.

Image-based Prediction of Landmark Features for Mobile Navigation (with D. Kriegman, E. Yeh and C. Rasmussen). In the Proceedings of the International Conference on Robotics and Automation, pp. 1040-1046, IEEE Computer Society Press, 1997.

16.

Preliminary Results on Grasping With Vision and Touch (with J. Son, R. Howe, and J. Wang). In the Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov. 1996.

17.

Robot Navigation Using Image Sequences (with C. Rasmussen). In the Proceedings of the AAAI Conference on Artificial Intelligence, pp. 938-943, 1996.

18.

Incremental Focus of Attention for Robust Visual Tracking (with K. Toyama). In the Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 189-195, 1996.

19.

Real-Time Tracking of Image Regions With Changes in Geometry and Illumination (with P. Belhumeur). In the Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 403-410, 1996.

20.

A Calibration-Free, Self-Adjusting Stereo Visual Control System (with W.C. Chang and A.S. Morse). In the Proceedings of the 13th IFAC World Congress, pp. 343-348, 1996.

21.

SERVOMATIC: A Modular System for Robust Positioning Using Stereo Visual Servoing (with K. Toyama and J. Wang). In the Proceedings of the International Conference on Robotics and Automation, pp. 2636-2643, IEEE Computer Society Press, 1996.

22.

XVision: Combining Image Warping and Geometric Constraints for Fast Visual Tracking (with K. Toyama). In the Proceedings of the Fourth European Conference on Computer Vision (ECCV '96), pp. 507-517, Springer Verlag, 1996.

23.

A ``Robust'' Convergent Visual Servoing System (with D. Kim, A. Rizzi, D. Koditschek). In Proceedings of the International Conference on Intelligent Robots and Systems, Vol. I, pp. 348-353. 1995.

24.

The ``XVision'' System: A General Purpose Substrate for Real-Time Vision-Based Robotics. In Proceedings of the Workshop on Vision for Robotics, pp. 56-63, 1995.

25.

Distraction-Proof Tracking: Keeping One's Eye on the Ball (with K. Toyama). In Proceedings of the International Conference on Intelligent Robots and Systems, Vol. I, pp. 354-359. 1995.

26.

Calibration-Free Visual Control Using Projective Invariance. In Proceedings of the International Conference on Computer Vision, pp. 1009-1015, 1995.

27.

Flexible Tools for Hand-Eye Coordination (with K. Toyama). Video segment appearing in the proceedings of the International Conference on Robotics and Automation, 1995.

28.

Feature-Based Visual Servoing and its Application to Telerobotics (with G. Grunwald and G. Hirzinger). In Proceedings of the 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 164-171. IEEE Computer Society Press, Sept. 1994.

29.

Real-Time Feature Tracking and Projective Invariance as a Basis for Hand-Eye Coordination. In Proc. IEEE Conference on Computer Vision and Image Processing (CVPR), pages 533-539. IEEE Computer Society Press, June 1994.

30.

Robot Feedback Control Based on Stereo Vision: Towards Calibration-Free Hand-Eye Coordination (with W. Chang and A.S. Morse). In Proc. IEEE Int. Conference on Robotics and Automation, pages 2850-2856. IEEE Computer Society Press, May 1994.

31.

A Vision-Based Grasping System for Unfamiliar Planar Objects (with A. Bendiksen). In Proc. IEEE Int. Conference on Robotics and Automation, pages 2844-2849. IEEE Computer Society Press, May 1994.

32.

On Comparing Statistical and Set-Based Methods in Sensor Data Fusion (with S. Engelson and S. Atiya). In Proceedings of the 1993 IEEE International Conference on Robotics and Automation, pp. 1662-1667, 1993.

33.

Constraint Solving Methods and Sensor-Based Decision Making. In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp. 1662-1667, 1992.

34.

Towards Geometric Decision Making in Unstructured Environments. Proceedings of the International Workshop on Intelligent Robots and Systems, pp. 1412-1417. A revised version appears in the proceedings of SPIE, Sensor Fusion IV, 1991.

35.

Using Resource-Bounded Sensing in Telerobotics. In Proceedings of the Fifth International Conference on Advanced Robotics, pp. 199-204, 1991.

36.

Real-Time Vision-Based Robot Localization (with S. Atiya). In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 639-643, 1991.

37.

A Comparison of Information-Gathering Approaches. In 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.

38.

Estimation Procedures for Robust Sensor Control (with M. Mintz). In L. Kanal, T. Levitt, and J. Lemmer, editors, Uncertainty in Artificial Intelligence 3, pp. 285-301, North-Holland, New York, NY, 1989.

39.

Sensor Modeling and Robust Sensor Fusion (with M. Mintz). In Proceedings of the Fifth International Symposium on Robotics Research, MIT Press, Cambridge, MA, 1989.

40.

Task-Directed Multi-Sensor Fusion (with M. Mintz). In Proceedings of IEEE Conference on Robotics and Automation, pp. 662-667, 1989.

41.

Egomotion and the Stabilized World (with D. Heeger). In Proceedings of the Second International Conference on Computer Vision, 1988.

42.

Information and Multi-Sensor Coordination, (with H. Durrant-Whyte). In J. Lemmer and L. Kanal, editors, Uncertainty in Artificial Intelligence 2, pp. 381-394, North-Holland, New York, NY, 1988.

43.

Explaining Modal Logic Proofs (with A. Felty). In Proceedings of IEEE Systems, Man, and Cybernetics Conference on Human Computer Interaction, 1988.

44.

Searching for Information (with M. Mintz). In Proceedings of Workshop on Spatial Reasoning and Multi-Sensor Fusion, pp. 313-322, Morgan Kaufmann, 1987.

45.

Tactile Information Processing-- The Bottom Up Approach (with R. Bajcsy). In Proceedings of the International Conference on Pattern Recognition pp. 809-811, 1984.

Other Conferences:

1.

Tracker fusion for robustness in visual feature tracking (with K. Toyama). In SPIE Int'l Sym. Intel. Sys. and Adv. Manufacturing, volume 2589, Philadelphia, PA, October 1995.

2.

Towards task-directed planning of cooperating sensors (with G. Grunwald). In SPIE Sensor Fusion V, pages 214-225, Nov., 1992.

3.

A constraint-based view of selective perception. In AAAI Spring Symposium on Selective Perception, pp. 61-65, 1992.

4.

Set-based estimation: Towards task-directed sensing. In Proceedings of Melecon Conference, pp. 1205-1209, 1991.

5.

Deciding not to decide using resource-bounded sensing. In Proceedings of the Symposium on Advances in Intelligent Systems, SPIE, Boston, MA, 1990.

Other Publications:

1.

Tracking Objects by Color Alone (with Christopher Rasmussen), DCS-RR-1114, Yale University, New Haven, CT, 1997.

2.

Tracking Tools for Vision-Based Navigation, DCS-RR-1060, Yale University, New Haven, CT, 1994.

3.

Six DOF Visual Control of Relative Position, DCS-RR-1038, Yale University, New Haven, CT, 1994

4.

A Framework for Real-Time Vision-Based Tracking Using Off-the-Shelf Hardware (with S. Puri and K. Toyama), DCS-RR-988, Yale University, New Haven, CT, 1993.

5.

A C++ Interval and Constraint Solving Package, DCS-RR-953, Yale University, New Haven, CT, 1993.

6.

Some Problems in Adaptive Visual Servoing, DCS-RR-948, Yale University, New Haven, CT, 1993.

7.

Active Reduction of Uncertainty in Multi-Sensor Systems. Ph.D. thesis, University of Pennsylvania, 1988.

8.

An Agent Specification Language, MS-CIS-87-08, The University of Pennsylvania, Philadelphia, PA, 1987.

9.

Information Maps for Active Sensor Control, MS-CIS-87-07, The University of Pennsylvania, Philadelphia, PA, 1987.

10.

Commonsense Summer: The Final Report (with J. Hobbs et al.), CSLI-85-35, SRI International, Palo Alto, CA, 1985.

11.

Computational aspects of proof theory in modal logic. Masters thesis, University of Pennsylvania, 1985

Software Packages:

1.

The XVision Tracking Toolkit, 1995, 1996, 1997.

2.

A System for Solution of High-Dimensional Nonlinear Constraints, 1993.

INVITED LECTURES

Robust Mean Square Estimation

Fraunhofer Institute,Karlsruhe, FRG. June, 1987.
University of Pisa, Pisa, Italy. June, 1987.

Active Reduction of Uncertainty in Multi-Sensor Systems

IBM Thomas J. Watson Research Center, Yorktown Heights, NY. August 1988.
MIT, Boston MA. September 1988.
Stanford University, Stanford, CA. September 1988.
University of Karlsruhe, Karlsruhe, FRG. October 1988.
INRIA, Sophia Antipolis, France. April, 1989.
The University of Lille, Lille, France. April 1989.
The University of Delft, Delft, The Netherlands. April 1989.
Oxford University, Oxford, England. May 1989.
Workshop on Human and Computer Vision, Stockholm, Sweden. August 1989
DLR, Oberpfaffenhoffen, October 1989.

Task-Oriented Sensor Programming
German Workshop on Robot Control, Dortmund, FRG. November 1989.

Interval Based Methods for Sensor-Based Decision Making
Yale University, New Haven, CT. October 1990.

Techniques for Sensor Data Fusion and Sensor Planning
ASTEM Research, Kyoto, Japan. November, 1991.
University of Connecticut, Storrs, CT. December 1991.
Carnegie Mellon University, Pittsburg, PA. October 1992.
Columbia University, New York, NY. October 1992.

Research in Sensor Data Fusion and Sensor Planning
Red Stone Arsenal, Huntsville, Alabama. April, 1992.

Qualitative Decision-Making
DLR, Oberpfaffenhoffen, FRG. June 1992.

Robot Feedback Control Based on Stereo Vision: Toward Calibration Free Hand-Eye Coordination
RPI, Troy NY, Nov. 1993.

A Skill-Based Approach to Hand-Eye Coordination
University of Rochester, Rochester NY, Jan. 1995.

The XVision System: An Approach to Real-Time Vision
Joint Slovenian-Austrian Workshop on Computer Vision, Maribor Slovenia, May 1995.

Cheap, Fast, and Firmly in Control: Lightweight Systems for Real-Time Vision and Robotics.
University of Michigan, Ann Arbor MI, Oct. 1995
University of Minnesota, Minneapolis MN, Nov. 1995
University of Chicago, Chicago IL, Nov. 1995
Purdue University, West Lafayette IN, Nov. 1995
University of Illinois, Champaign IL, Nov. 1995
Stanford University, Palo Alto CA, Jan. 1996
University of California, Berkeley CA, Jan. 1996
Max Plank Institute, Tuebingen, Germany, Jul. 1996
Siemens Central Research, Munich, Germany, Jul. 1996

Lightweight Systems for Real-Time Vision
Xerox Parc, Palo Alto CA, Jan. 1996
SGI Inc., Mt. View CA, Jan. 1996
Columbia University, Feb. 1996
MIT Media Lab, Apr. 1996
Cognex Corp, May 1996
University of Connecticut, Oct. 1996
Rutgers University, Oct. 1996
The University of Pennsylvania, Nov. 1996
Brown University, Nov. 1996

Vision as Feedback
Harvard University, Cambridge MA, Mar. 1997

Real-Time Vision on Your Desktop: Principles, Programming and Practice
University of Utah, Salt Lake City UT, Mar. 1998
Microsoft Corp, Redmond WA, Mar. 1998
Johns Hopkins University, Baltimore MA, Apr. 1998

How to Get What You See: Software Systems for Real-Time Vision
Johns Hopkins University, Baltimore MA, Apr. 1998

TEACHING:

Postdoctoral Associates:

Darius Burschka, 1999-present.

Martin Jägersand, 1998-present.

Eric Marchand, 1996-1997.

Markus Vincze, 1996.

Graduate Students:

Zachary Dodds, Ph.D. expected 1999.

Christopher Rasmussen, Ph.D. expected 1999.

Aage Bendiksen, Ph.D. expected 1999.

Jesse Reklaw, M.S. received 1998.

Kentaro Toyama, Ph.D received 1997.

Jonathan Wang, M.S. degree received 1996.

Sami Atiya, Ph.D. received 1995.

Listed Courses Taught or Co-Taught:

Vision-Based Interaction in Man and Machine, 2000

Artificial Intelligence, 1992-1993, 1996, 1997, 1999.

Analytical Introduction to Engineering Issues in Robotics, 1994-present.

Autonomous Systems (new course), 1993, 1995, 1997, 1999.

A Second Course in Programming (new course), 1993, 1994, 1997.

Computer Vision, 1991 - present.

Programming in Fortran, 1992-1993.

Seminar Courses:

Topics in Intelligent Autonomous Systems, 1992

Topics in Sensing for Artificial Intelligence and Robotics Applications, 1991

GRANTS

Awarded:

1.

DARPA: ``Composition and Adaptation of Goal-Oriented Robotic Systems'' (G. Hager (PI), P. Hudak and D. McDermott) for $2,304,083 from 4/1/00-4/1/04.

2.

DARPA: ``Environment-Independent Perception and Navigation for Tactical Mobile Robots: A Diktiometric Approach'' (G. Hager (PI), D. Kriegman and D. McDermott) for $750,000 from 6/98-6/00.

3.

NSF: ``A Compositional Approach to Vision-Based Manipulation'' (G. Hager (PI) and M. Jägersand) for $66,000 from 6/98-6/00 (CISE Postdoctoral Research Award)

4.

ARO: ``Visual Tracking as Stabilization'' (G. Hager (PI) and D. Kriegman) for $270,000 from 3/1/98-3/1/01.

5.

ARO: ``Next Generation Vision-Based Control Systems'' (G. Hager (PI), A.S. Morse and D. Kriegman) for $129,945 from 3/1/97-3/1/98 (DURIP equipment grant).

6.

NSF: ``Domain-Independent Vision-Based Navigation'' (D. Kriegman (PI) and G. Hager) for $419,184 from 9/1/97-10/31/00 .

7.

NSF: ``The Block Island Workshop on Vision and Control'' (G. Hager, PI) for $14,500 from 6/1/97-5/30/98.

8.

NSF: `` A Modular Toolkit for Vision and Robotics - An Experiment in Domain-Specific Software Architectures'' (G. Hager (PI) and P. Hudak) for $1,223,090 over 4 years from 6/1/97-6/1/01.

9.

DARPA: ``Point-Man Robot'' (STTR subcontract through Nomadics Inc.) for $45,000, over 1 year from 6/1/97 - 6/1/98.

10.

Siemens Corp: ``Light-Weight Vision for Enhanced Mobility'' (G. Hager, PI)for $40,000, over 1 year from 1/1/97 - 9/30/97.

11.

NSF: ``Calibration Insensitive Hand-Eye Coordination for Robotic Systems Based on Stereo Vision'' (G. Hager, PI) for $240,000 over 3 years from 8/95-8/98.

12.

DARPA: ``Equipment for Sensor-Based Navigation and Control of Autonomous Agents'' (D. McDermott (PI) and G. Hager) for $75,000 from 1/23/95-1/23/96.

13.

DARPA: ``Sensor-based and Geometry-based Planning for Autonomous Agents'' (with D. McDermott (PI) and G. Hager) for $971,489 from 10/1/93-5/31/96.

14.

NSF: ``Resource-Bounded Sensor-Based Decision Making in Unconstrained Environments'' (G. Hager, PI) for $170,245 from 9/1/91-2/28/94

15.

NSF: ``A Range Finder & Manipulator for Empirical Verification of Sensor-Based Decision Making'' (D. Kriegman (PI) and G. Hager) for $40,000 from 5/1/91-2/28/93 .

16.

NATO: ``NATO Collaborative Research Grant Between Yale University and the DLR'' (G. Hirzinger, PI) for $5000 from 9/1/92--9/1/94.

17.

NATO: ``NATO Collaborative Research Grant Between Yale University and the DLR'' (G. Hirzinger, PI) for $5000 from 9/1/91--9/1/92.

Under Consideration:

1.

NSF/ITR: ``Scale-Invariant Skill Augmenation for Cooperative Human-Machine Micromanipulation Systems'' (G. Hager (PI), P. Jensen and R.H. Taylor) for $499,850 over four years.

2.

INTEL: ``Desktop Software Systems for Vision-Based Human-Computer Interaction'' (G. Hager, PI) for $150,000 over three years.