text:
urgical,
  title={Surgical task and skill classification from eye tracking and tool motion in minimally invasive surgery},
  author={Ahmidi, Narges and Hager, Gregory D and Ishii, Lisa and Fichtinger, Gabor and Gallia, Gary L and Ishii, Masaru},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={295--302},
  year={2010},
  organization={Springer, Berlin, Heidelberg}
}

@article{sznitman2010multi,
  title={Multi-environment model estimation for motility analysis of Caenorhabditis elegans},
  author={Sznitman, Raphael and Gupta, Manaswi and Hager, Gregory D and Arratia, Paulo E and Sznitman, Josu{'e}},
  journal={PLoS One},
  volume={5},
  number={7},
  pages={e11631},
  year={2010},
  publisher={Public Library of Science}
}

@inproceedings{gaschler2010epipolar,
  title={Epipolar-based stereo tracking without explicit 3D reconstruction},
  author={Gaschler, Andre and Burschka, Darius and Hager, Gregory},
  booktitle={2010 20th International Conference on Pattern Recognition},
  pages={1755--1758},
  year={2010},
  organization={IEEE}
}

@inproceedings{padoy2011human,
  title={Human-machine collaborative surgery using learned models},
  author={Padoy, Nicolas and Hager, Gregory D},
  booktitle={2011 IEEE International Conference on Robotics and Automation},
  pages={5285--5292},
  year={2011},
  organization={IEEE}
}

@inproceedings{seshamani2009detecting,
  title={Detecting registration failure},
  author={Seshamani, Sharmishtaa and Kumar, Rajesh and Rajan, Purnima and Bejakovic, Srdan and Mullin, Gerard and Dassopoulos, Themos and Hager, G},
  booktitle={2009 IEEE International Symposium on Biomedical Imaging: From Nano to Macro},
  pages={726--729},
  year={2009},
  organization={IEEE}
}

@misc{hager2005system,
  title={System and method for 3D object recognition using range and intensity},
  author={Hager, Gregory and Wegbreit, Eliot},
  year={2005},
  month=dec # "~29",
  note={US Patent App. 11/159,660}
}

@article{hager1993c++,
  title={C++ Interval & Constraint Solving Package},
  author={Hager, Gregory D and Lu, John M},
  journal={DCS RR-953, Yale University, New Haven, CT},
  year={1993}
}

@incollection{hager1998block,
  title={The block island workshop: Summary report},
  author={Hager, Gregory D and Kriegman, David J and Morse, A Stephen and Allen, P and Forsyth, D and Hutchinson, Seth and Little, J and McClamroch, N Harris and Sanderson, A and Skaar, S},
  booktitle={The confluence of vision and control},
  pages={273--281},
  year={1998},
  publisher={Springer, London}
}

@inproceedings{hager1990comparison,
  title={A Comparison of Information Gathering Approaches},
  author={Hager, Greg},
  booktitle={Sensor Fusion II: Human and Machine Strategies},
  volume={1198},
  pages={211--222},
  year={1990},
  organization={International Society for Optics and Photonics}
}

@inproceedings{padoy20113d,
  title={3D thread tracking for robotic assistance in tele-surgery},
  author={Padoy, Nicolas and Hager, Gregory D},
  booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={2102--2107},
  year={2011},
  organization={IEEE}
}

@article{belhumeur1999computational,
  title={Computational vision at Yale},
  author={Belhumeur, Peter N and Duncan, James S and Hager, Gregory D and McDermott, Drew V and Morse, A Stephen and Zucker, Steven W},
  journal={International Journal of Computer Vision},
  volume={35},
  number={1},
  pages={5--12},
  year={1999},
  publisher={Kluwer Academic Publishers}
}

@inproceedings{reiley2009decomposition,
  title={Decomposition of robotic surgical tasks: an analysis of subtasks and their correlation to skill},
  author={Reiley, Carol E and Hager, Gregory D},
  booktitle={M2CAI workshop. MICCAI, London},
  year={2009}
}

@inproceedings{fleming2009ultrasound,
  title={Ultrasound elastography: enabling technology for image guided laparoscopic prostatectomy},
  author={Fleming, Ioana N and Rivaz, Hassan and Macura, Katarzyna and Su, Li-Ming and Hamper, Ulrike and Lagoda, Gwen A and Burnett II, Arthur L and Lotan, Tamara and Taylor, Russell H and Hager, Gregory D and others},
  booktitle={Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling},
  volume={7261},
  pages={72612I},
  year={2009},
  organization={International Society for Optics and Photonics}
}

@article{corso2009image,
  title={Image description with features that summarize},
  author={Corso, Jason J and Hager, Gregory D},
  journal={Computer Vision and Image Understanding},
  volume={113},
  number={4},
  pages={446--458},
  year={2009},
  publisher={Academic Press}
}

@article{vagvolgyi2007toward,
  title={Toward direct registration of video to computed tomography for intraoperative surgical planning during laparoscopic partial nephrectomy},
  author={Vagvolgyi, Balazs and Reiley, Carol E and Hager, Gregory and Awad, I and Levinson, Adam W and Su, L},
  journal={JOURNAL OF ENDOUROLOGY},
  volume={21},
  pages={BR6},
  year={2007},
  publisher={Mary Ann Liebert, Inc.}
}

@article{dewan2008image,
  title={Image-based coronary tracking and beat-to-beat motion compensation: feasibility for improving coronary MR angiography},
  author={Dewan, Maneesh and Hager, Gregory D and Lorenz, Christine H},
  journal={Magnetic resonance in medicine},
  volume={60},
  number={3},
  pages={604--615},
  year={2008},
  publisher={Wiley Subscription Services, Inc., A Wiley Company Hoboken}
}

@inproceedings{rajan2009automated,
  title={Automated diagnosis of Barrett'92s esophagus with endoscopic images},
  author={Rajan, P and Canto, M and Gorospe, E and Almario, A and Kage, A and Winter, C and Hager, G and Wittenberg, T and M{"u}nzenmayer, Christian},
  booktitle={World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany},
  pages={2189--2192},
  year={2009},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{hager1991set,
  title={Set-based estimation: Towards task-directed sensing},
  author={Hager, Gregory D},
  booktitle={[1991 Proceedings] 6th Mediterranean Electrotechnical Conference},
  pages={1205--1208},
  year={1991},
  organization={IEEE}
}

@inproceedings{foroughi2010tracked,
  title={Tracked ultrasound elastography (true)},
  author={Foroughi, Pezhman and Rivaz, Hassan and Fleming, Ioana N and Hager, Gregory D and Boctor, Emad M},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={9--16},
  year={2010},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{pezzementi2011object,
  title={Object mapping, recognition, and localization from tactile geometry},
  author={Pezzementi, Zachary and Reyda, Caitlin and Hager, Gregory D},
  booktitle={2011 IEEE International Conference on Robotics and Automation},
  pages={5942--5948},
  year={2011},
  organization={IEEE}
}

@inproceedings{becker2011handheld,
  title={Handheld micromanipulation with vision-based virtual fixtures},
  author={Becker, Brian C and MacLachlan, Robert A and Hager, Gregory D and Riviere, Cameron N},
  booktitle={2011 IEEE International Conference on Robotics and Automation},
  pages={4127--4132},
  year={2011},
  organization={IEEE}
}

@article{wang2008anatomical,
  title={Anatomical reconstruction from endoscopic images: Toward quantitative endoscopy},
  author={Wang, Hanzi and Mirota, Daniel and Hager, Gregory and Ishii, Masaru},
  journal={American journal of rhinology},
  volume={22},
  number={1},
  pages={47--51},
  year={2008},
  publisher={SAGE Publications Sage CA: Los Angeles, CA}
}

@inproceedings{kumar2009learning,
  title={Learning disease severity for capsule endoscopy images},
  author={Kumar, Rajesh and Rajan, Purnima and Bejakovic, Srdan and Seshamani, Sharmishtaa and Mullin, Gerard and Dassopoulos, Themistocles and Hager, G},
  booktitle={2009 IEEE International Symposium on Biomedical Imaging: From Nano to Macro},
  pages={1314--1317},
  year={2009},
  organization={IEEE}
}

@incollection{grunwald1993task,
  title={Task-Directed Sensor-Planning},
  author={Grunwald, Gerhard and Hager, Gregory D},
  booktitle={Data Fusion Applications},
  pages={87--101},
  year={1993},
  publisher={Springer, Berlin, Heidelberg}
}

@article{seshamani2011meta,
  title={A meta method for image matching},
  author={Seshamani, Sharmishtaa and Kumar, Rajesh and Mullin, Gerard and Dassopoulos, Themistocles and Hager, Gregory D},
  journal={IEEE transactions on medical imaging},
  volume={30},
  number={8},
  pages={1468--1479},
  year={2011},
  publisher={IEEE}
}

@inproceedings{bendiksen1999fast,
  title={Fast 3D boundary computation from occluding contour motion},
  author={Bendiksen, Aage and Hager, Gregory D},
  booktitle={Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C)},
  volume={3},
  pages={1934--1941},
  year={1999},
  organization={IEEE}
}

@misc{boctor2008apparatus,
  title={Apparatus and method for computing 3D ultrasound elasticity images},
  author={Boctor, Emad Moussa and Fichtinger, Gabor and Hager, Gregory D and Rivaz, Hassan},
  year={2008},
  month=dec # "~11",
  note={US Patent App. 11/905,501}
}

@inproceedings{corso2002software,
  title={Software Systems for Vision-Based Spatial Interaction},
  author={Corso, Jason and Ye, Guangqi and Burschka, Darius and Hager, G},
  booktitle={Prec. 2002 Workshop on Intelligent Human Augmentation and Virtual Environments, pages D--26 and D--56},
  year={2002}
}

@inproceedings{qi2004fast,
  title={Fast approach to evaluate MAP reconstruction for lesion detection and localization},
  author={Qi, Jinyi and Huesman, Ronald H},
  booktitle={Medical Imaging 2004: Image Perception, Observer Performance, and Technology Assessment},
  volume={5372},
  pages={273--282},
  year={2004},
  organization={International Society for Optics and Photonics}
}

@misc{hager2020system,
  title={System and method for computing grasps for a robotic hand with a palm},
  author={Hager, Gregory D and Wegbreit, Eliot Leonard},
  year={2020},
  month=dec # "~1",
  note={US Patent 10,850,392}
}

@inproceedings{lin2006vision,
  title={Vision-Assisted Automatic Detection and Segmentation of Robot-Assisted Surgical Motions},
  author={Lin, Henry and Shafran, Izhak and Yuh, David D and Hager, Gregory D},
  booktitle={Medicine Meets Virtual Reality},
  year={2006}
}

@inproceedings{dodds2003handling,
  title={Handling discontinuities in stereovisual alignment tasks},
  author={Dodds, Zachary and Hager, Gregory D},
  booktitle={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)(Cat. No. 03CH37453)},
  volume={1},
  pages={479--484},
  year={2003},
  organization={IEEE}
}

@article{toyama20003,
  title={3 chapter INCREMENTAL FOCUS OF ATTENTION: A LAYERED APPROACH TO ROBUST VISION AND CONTROL},
  author={Toyama, Kentaro and Hager, Gregory D and Dodds, Zachary},
  journal={Robust Vision for Vision-Based Control of Motion},
  pages={27},
  year={2000},
  publisher={Wiley-IEEE Press}
}

@article{kumar2011computer,
  title={Computer Vision Enabled Analysis for Crohn's Disease Severity Assessment in Capsule Endoscopy},
  author={Kumar, Rajesh and Seshamani, Sharmishtaa and Mullin, Gerard E and Hager, Gregory and Dassopoulos, Themistocles},
  journal={Gastroenterology},
  volume={5},
  number={140},
  pages={S--423},
  year={2011}
}

@article{marayong2005d,
  title={D. Kragic},
  author={Marayong, P and Li, M and Okamura, AM and Hager, GD},
  journal={The International Journal of Robotics Research},
  volume={24},
  number={9},
  pages={731--741},
  year={2005},
  publisher={Citeseer}
}

@article{girgis2010w1174,
  title={W1174 Computer Automated Severity Assessment of Crohn's Disease (CD) Lesions in Wireless Capsule Endoscopy (CE) Images},
  author={Girgis, Hani Z and Dassopoulos, Themistocles and Mullin, Gerard E and Kumar, Rajesh and Hager, Gregory},
  journal={Gastroenterology},
  volume={138},
  number={5},
  pages={S--667},
  year={2010},
  publisher={Elsevier}
}

@inproceedings{fichtinger2007new,
  title={New approaches to calibration and segmentation in interventional ultrasound},
  author={Fichtinger, Gabor and Boctor, Emad M and Hager, Gregory D},
  booktitle={2007 4th IEEE International Symposium on Biomedical Imaging: From Nano to Macro},
  pages={1060--1063},
  year={2007},
  organization={IEEE}
}

@inproceedings{rivaz2007high,
  title={High Resolution Ultrasound Elastography: a Dynamic Programming Approach},
  author={Rivaz, Hassan and Foroughi, Pezhman and Boctor, Emad and Zellars, Richard and Fichtinger, Gabor and Hager, Gregory},
  booktitle={MICCAI 2007 Workshop Proceedings},
  year={2007},
  pages={113}
}

@inproceedings{rivaz2010novel,
  title={A novel method for monitoring liver ablation using ultrasound elastography},
  author={Rivaz, Hassan and Kapoor, Ankur and Fleming, Ioana and Hager, Gregory D and Boctor, Emad M},
  booktitle={Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy},
  volume={7629},
  pages={762913},
  year={2010},
  organization={International Society for Optics and Photonics}
}

@article{dassopoulos2009w1079,
  title={W1079 Computer Vision Based Automated Statistical Analysis and Assessment of Crohn's Disease (CD) Lesions in Wireless Capsule Endoscopy (CE) Images},
  author={Dassopoulos, Themistocles and Kumar, Rajesh and Bejakovic, Srdan and Rajan, Purnima and Seshamani, Sharmishtaa and Mullin, Gerard E and Hager, Gregory},
  journal={Gastroenterology},
  volume={5},
  number={136},
  pages={A--649},
  year={2009}
}

@misc{boctor2011ultrasound,
  title={Ultrasound calibration and real-time quality assurance based on closed form formulation},
  author={Boctor, Emad M and Hager, Gregory D and Fichtinger, Gabor and Viswanathan, Anand},
  year={2011},
  month=jan # "~11",
  note={US Patent 7,867,167}
}

@inproceedings{richa2011visual,
  title={Visual tracking of surgical tools for proximity detection in retinal surgery},
  author={Richa, Rog{'e}rio and Balicki, Marcin and Meisner, Eric and Sznitman, Raphael and Taylor, Russell and Hager, Gregory},
  booktitle={International Conference on Information Processing in Computer-Assisted Interventions},
  pages={55--66},
  year={2011},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{seshamani2010augmenting,
  title={Augmenting capsule endoscopy diagnosis: a similarity learning approach},
  author={Seshamani, Sharmishtaa and Kumar, Rajesh and Dassopoulos, Themos and Mullin, Gerard and Hager, G},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={454--462},
  year={2010},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{hager2006human,
  title={Human-Machine Collaborative Systems: Intelligent Virtual Fixtures and Space Applications.},
  author={Hager, Gregory D and Okamura, Allison M and Taylor, Russell H},
  booktitle={AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before},
  pages={76--78},
  year={2006}
}

@article{mirota2011vision,
  title={Vision-based navigation in image-guided interventions},
  author={Mirota, Daniel J and Ishii, Masaru and Hager, Gregory D},
  journal={Annual review of biomedical engineering},
  volume={13},
  year={2011}
}

@incollection{pezzementi2017tactile,
  title={Tactile object recognition and localization using spatially-varying appearance},
  author={Pezzementi, Zachary and Hager, Gregory D},
  booktitle={Robotics research},
  pages={201--217},
  year={2017},
  publisher={Springer, Cham}
}

@article{siewerdsen2010development,
  title={Development & Translation of a Cone-Beam CT Guidance System},
  author={Siewerdsen, Jeffrey and Gallia, Gary and Hager, Gregory and Reh, Douglas and Taylor, Russell},
  journal={Otolaryngology--Head and Neck Surgery},
  volume={143},
  number={2_suppl},
  pages={P182--P182},
  year={2010},
  publisher={SAGE Publications Sage CA: Los Angeles, CA}
}

@inproceedings{abretske2009intelligent,
  title={Intelligent frame selection for anatomic reconstruction from endoscopic video},
  author={Abretske, Daniel and Mirota, Daniel and Hager, Gregory D and Ishii, Masaru},
  booktitle={2009 Workshop on Applications of Computer Vision (WACV)},
  pages={1--5},
  year={2009},
  organization={IEEE}
}

@inproceedings{rivaz2010novel,
  title={Novel reconstruction and feature exploitation techniques for sensorless freehand 3D ultrasound},
  author={Rivaz, Hassan and Kang, Hyun J and Stolka, Philipp J and Zellars, Richard and Wacker, Frank and Hager, Gregory and Boctor, Emad},
  booktitle={Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy},
  volume={7629},
  pages={76291D},
  year={2010},
  organization={International Society for Optics and Photonics}
}

@inproceedings{foroughi2010application,
  title={Application of external tracking in ultrasound elasticity imaging},
  author={Foroughi, Pezhman and Hager, Gregory D and Wacker, Frank K and Boctor, Emad M},
  booktitle={Medical Imaging 2010: Ultrasonic Imaging, Tomography, and Therapy},
  volume={7629},
  pages={76291B},
  year={2010},
  organization={International Society for Optics and Photonics}
}

@inproceedings{hager1995modular,
  title={Modular Tools for Robotic Hand-Eye Coordination},
  author={Hager, Gregory D and Toyama, K},
  booktitle={Proceedings of 1995 IEEE International Conference on Robotics and Automation},
  volume={3},
  pages={V3},
  year={1995},
  organization={IEEE}
}

@article{dai2010frp,
  title={FRP in C+},
  author={Dai, Xiangtian and Hager, Gregory D and Peterson, John},
  year={2010}
}

@inproceedings{hager1992sensor,
  title={Sensor Planning for Reactive Robotic Systems},
  author={Hager, GD and Grunwald, G},
  booktitle={Proc. The Allerton Conference on Computing, Control and Communications},
  year={1992}
}

@inproceedings{grunwald1992toward,
  title={Toward task-directed planning of cooperating sensors [1828-26]},
  author={Grunwald, GA and Hager, GD},
  booktitle={PROCEEDINGS-SPIE THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING},
  pages={214--214},
  year={1992},
  organization={SPIE INTERNATIONAL SOCIETY FOR OPTICAL}
}

@misc{rivaz2013robust,
  title={Robust and accurate freehand 3D ultrasound},
  author={Rivaz, Hassan and Boctor, Emad Moussa and Fichtinger, Gabor and Hager, Gregory},
  year={2013},
  month=oct # "~15",
  note={US Patent 8,559,685}
}

@misc{wegbreit2020system,
  title={System and method for constructing a 3D scene model from an image},
  author={Wegbreit, Eliot Leonard and Hager, Gregory D},
  year={2020},
  month=may # "~12",
  note={US Patent 10,650,608}
}

@misc{kumar2012system,
  title={System and method for automated disease assessment in capsule endoscopy},
  author={Kumar, Rajesh and Dassopoulos, Themistocles and Girgis, Hani and Hager, Gregory},
  year={2012},
  month=dec # "~13",
  note={US Patent App. 13/382,855}
}

@misc{hager2002sensor,
  title={Sensor Based Intelligent Robots: International Workshop, Dagstuhl Castle, Germany, October 15-20, 2000. Selected Revised Papers},
  author={Hager, Gregory D and Christensen, Henrik I and Bunke, Horst and Klein, Rolf},
  year={2002},
  publisher={Springer Science & Business Media}
}

@article{berkelman2001short,
  title={Short Posters-Medical Robotics and Devices II-Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy},
  author={Berkelman, PJ and Rothbaum, DL and Roy, J and Lang, S and Whitcomb, LL and Hager, G and Jensen, PS and Juan, E de and Taylor, RH and Niparko, JK},
  journal={Lecture Notes in Computer Science},
  volume={2208},
  pages={1426--1429},
  year={2001},
  publisher={Berlin: Springer-Verlag, 1973-}
}

@article{brown2003shape,
  title={Shape and Appearance in Object Recognition},
  author={Brown, MZ and Burschka, D and Hager, GD},
  year={2003}
}

@inproceedings{gao2011towards,
  title={Towards validation of robotic surgery training assessment across training platforms},
  author={Gao, Yixin and Sedef, Mert and Jog, Amod and Peng, Peter and Choti, Michael and Hager, Gregory and Berkley, Jeff and Kumar, Rajesh},
  booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={2539--2544},
  year={2011},
  organization={IEEE}
}

@article{hagersensor,
  title={Sensor based intelligent robots},
  author={Hager, Gregory D and Christensen, Henrik I and Bunke, Horst},
  journal={Lecture notes in computer science},
  publisher={Springer},
  year={2000}
}

@article{bunke2000modelling,
  title={Modelling of Sensor-Based Intelligent Robot Systems},
  author={Bunke, H and Christensen, HI and Hager, G},
  year={2000}
}

@inproceedings{rivaz2008ablation,
  title={Ablation Monitoring with 2D and 3D Elastography},
  author={Rivaz, Hassan and Boctor, Emad and Fichtinger, Gabor and Hager, Gregory and Flemming, Ioana},
  booktitle={2008 IEEE International Ultrasonics Symposium Abstract book},
  year={2008}
}

@misc{foroughi2017methods,
  title={Methods and apparatus for ultrasound strain imaging},
  author={Foroughi, Pezhman and Boctor, Emad and Hager, Gregory},
  year={2017},
  month=apr # "~4",
  note={US Patent 9,610,063}
}

@inproceedings{sefati2011ultrasound,
  title={Ultrasound elastography using regularized phase-zero cost function initialized with dynamic programming},
  author={Sefati, Shahin and Rivaz, Hassan and Boctor, Emad and Hager, Gregory},
  booktitle={Medical Imaging 2011: Ultrasonic Imaging, Tomography, and Therapy},
  volume={7968},
  pages={79681D},
  year={2011},
  organization={International Society for Optics and Photonics}
}

@article{hager1993some,
  title={Some Problems in Adaptive Visual Servoing or How to Keep the Left Eye From Knowing What Right is Doing},
  author={Hager, Gregory D},
  year={1993}
}

@inproceedings{stolka2011navigation,
  title={Navigation with local sensors in handheld 3D ultrasound: initial in-vivo experience},
  author={Stolka, Philipp J and Wang, Xiang Linda and Hager, Gregory D and Boctor, Emad M},
  booktitle={Medical Imaging 2011: Ultrasonic Imaging, Tomography, and Therapy},
  volume={7968},
  pages={79681J},
  year={2011},
  organization={International Society for Optics and Photonics}
}

@misc{hager2011system,
  title={System and method for recognition in 2D images using 3D class models},
  author={Hager, Gregory D and Wegbreit, Eliot Leonard},
  year={2011},
  month=apr # "~19",
  note={US Patent 7,929,775}
}

@article{almario2010w1163,
  title={W1163 White Light Endoscopy With Narrow Band and Acetic Acid-Enhanced Imaging for Barrett's Esophagus (BE) and Early Be-Related Neoplasia (Bern): An International Study of Accuracy and Incremental Benefit},
  author={Almario, Jose Antonio N and Gorospe, Emmanuel C and Rajan, Purnima and Winter, Christian and Muenzenmayer, Christian and Hager, Gregory and Canto, Marcia I},
  journal={Gastroenterology},
  volume={5},
  number={138},
  pages={S--664},
  year={2010}
}

@inproceedings{seshamani2006visual,
  title={Visual Measurement of Microsurgical Motion with Application to Robotic Augmentation},
  author={Seshamani, Sharmishtaa and Riviere, Cameron and Handa, James T and Lobes, L and Hager, GD},
  booktitle={Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference},
  pages={39--40},
  year={2006},
  organization={IEEE}
}

@article{kumar2011assessment,
  title={Assessment of Crohn'92s disease lesions in wireless capsule endoscopy images},
  author={Kumar, Rajesh and Zhao, Qian and Seshamani, Sharmishtaa and Mullin, Gerard and Hager, Gregory and Dassopoulos, Themistocles},
  journal={IEEE Transactions on biomedical engineering},
  volume={59},
  number={2},
  pages={355--362},
  year={2011},
  publisher={IEEE}
}

@inproceedings{rivaz2008ablation,
  title={Ablation monitoring with a regularized 3D elastography technique},
  author={Rivaz, Hassan and Fleming, Ioana and Matinfar, Mohammad and Ahmad, Omar and Khamene, Ali and Choti, Michael and Hager, Gregory and Boctor, Emad},
  booktitle={2008 IEEE Ultrasonics Symposium},
  pages={308--312},
  year={2008},
  organization={IEEE}
}

@article{hager2011scene,
  title={Scene parsing using a prior world model},
  author={Hager, Gregory D and Wegbreit, Ben},
  journal={The International Journal of Robotics Research},
  volume={30},
  number={12},
  pages={1477--1507},
  year={2011},
  publisher={SAGE Publications Sage UK: London, England}
}

@article{rasmussen1996dissertation,
  title={Dissertation Prospectus: Vision-Based Learning on a Mobile Robot},
  author={Rasmussen, Christopher and McDermott, Drew and Kriegman, David and Horswill, Ian},
  year={1996}
}

@incollection{hager1998research,
  title={Research issues in vision and control},
  author={Hager, Gregory D and Kriegman, David J and Morse, A Stephen},
  booktitle={The confluence of vision and control},
  pages={1--10},
  year={1998},
  publisher={Springer, London}
}

@inproceedings{krupa2009rigid,
  title={Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing},
  author={Krupa, Alexandre and Fichtinger, Gabor and Hager, Gregory D},
  booktitle={Advanced Sensing and Sensor Integration in Medical Robotics, Workshop at the IEEE Int. Conf. on Robotics and Automation},
  year={2009}
}

@article{burschka2005practical,
  title={A practical approach for integrating vision-based methods into interactive 2d/3d applications},
  author={Burschka, Darius and Ye, Guangqi and Corso, Jason J and Hager, Gregory D},
  journal={Technical Report},
  year={2005}
}

@inproceedings{padoy2011spatio,
  title={Spatio-temporal registration of multiple trajectories},
  author={Padoy, Nicolas and Hager, Gregory D},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={145--152},
  year={2011},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{richa2011visual,
  title={Visual tracking using the sum of conditional variance},
  author={Richa, Rog{'e}rio and Sznitman, Raphael and Taylor, Russell and Hager, Gregory},
  booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={2953--2958},
  year={2011},
  organization={IEEE}
}

@inproceedings{sznitman2011unified,
  title={Unified detection and tracking in retinal microsurgery},
  author={Sznitman, Raphael and Basu, Anasuya and Richa, Rogerio and Handa, Jim and Gehlbach, Peter and Taylor, Russell H and Jedynak, Bruno and Hager, Gregory D},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={1--8},
  year={2011},
  organization={Springer, Berlin, Heidelberg}
}

@article{chatelain2011surgical,
  title={Surgical Gesture Modeling using Switching Linear Dynamical Systems},
  author={Chatelain, Pierre and Padoy, Nicolas and Hager, Gregory D},
  year={2011}
}

@inproceedings{deshmukh2010real,
  title={REAL--TIME GRAPHICS PROCESSING UNIT BASED ULTRASOUND ELASTOGRAPHY},
  author={Deshmukh, NP and Rivaz, H and Stolka, PJ and Kang, H and Hager, GD and Alaf, ME and Boctor, EM},
  booktitle={Proceedings of the Ninth International Conference on the Ultrasonic Measurement and Imaging of Tissue Elasticity},
  year={2010}
}

@incollection{becker2011visual,
  title={Visual guidance of an active handheld microsurgical tool},
  author={Becker, Brian C and Voros, Sandrine and MacLachlan, Robert A and Hager, Gregory D and Riviere, Cameron N},
  booktitle={Surgical Robotics},
  pages={355--368},
  year={2011},
  publisher={Springer, Boston, MA}
}

@inproceedings{rivaz2011ultrasound,
  title={Ultrasound elastography using three images},
  author={Rivaz, Hassan and Boctor, Emad M and Choti, Michael A and Hager, Gregory D},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={371--378},
  year={2011},
  organization={Springer, Berlin, Heidelberg}
}

@article{mirota2011system,
  title={A system for video-based navigation for endoscopic endonasal skull base surgery},
  author={Mirota, Daniel J and Wang, Hanzi and Taylor, Russell H and Ishii, Masaru and Gallia, Gary L and Hager, Gregory D},
  journal={IEEE transactions on medical imaging},
  volume={31},
  number={4},
  pages={963--976},
  year={2011},
  publisher={IEEE}
}

@article{kumar2012assessing,
  title={Assessing system operation skills in robotic surgery trainees},
  author={Kumar, Rajesh and Jog, Amod and Malpani, Anand and Vagvolgyi, Balazs and Yuh, David and Nguyen, Hiep and Hager, Gregory and Chen, Chi Chiung Grace},
  journal={The International Journal of Medical Robotics and Computer Assisted Surgery},
  volume={8},
  number={1},
  pages={118--124},
  year={2012},
  publisher={John Wiley & Sons, Ltd Chichester, UK}
}

@article{kumar2012objective,
  title={Objective measures for longitudinal assessment of robotic surgery training},
  author={Kumar, Rajesh and Jog, Amod and Vagvolgyi, Balazs and Nguyen, Hiep and Hager, Gregory and Chen, Chi Chiung Grace and Yuh, David},
  journal={The Journal of thoracic and cardiovascular surgery},
  volume={143},
  number={3},
  pages={528--534},
  year={2012},
  publisher={Mosby}
}

@inproceedings{zhao2011towards,
  title={Towards integrating temporal information in capsule endoscopy image analysis},
  author={Zhao, Qian and Dassopoulos, Themistocles and Mullin, Gerard and Hager, Greg and Meng, Max QH and Kumar, Rajesh},
  booktitle={2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society},
  pages={6627--6630},
  year={2011},
  organization={IEEE}
}

@inproceedings{wang2012kinect,
  title={The Kinect as an interventional tracking system},
  author={Wang, Xiang Linda and Stolka, Philipp J and Boctor, Emad and Hager, Gregory and Choti, Michael},
  booktitle={Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling},
  volume={8316},
  pages={83160U},
  year={2012},
  organization={International Society for Optics and Photonics}
}

@inproceedings{liu2012clinical,
  title={A clinical pilot study of a modular video-CT augmentation system for image-guided skull base surgery},
  author={Liu, Wen P and Mirota, Daniel J and Uneri, Ali and Otake, Yoshito and Hager, Gregory and Reh, Douglas D and Ishii, Masaru and Gallia, Gary L and Siewerdsen, Jeffrey H},
  booktitle={Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling},
  volume={8316},
  pages={831633},
  year={2012},
  organization={International Society for Optics and Photonics}
}

@inproceedings{foroughi2012towards,
  title={Towards intraoperative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation},
  author={Foroughi, Pezhman and Burgner, Jessica and Choti, Michael A and Webster III, Robert J and Hager, Gregory D and Boctor, Emad M},
  booktitle={Medical Imaging 2012: Ultrasonic Imaging, Tomography, and Therapy},
  volume={8320},
  pages={83200T},
  year={2012},
  organization={International Society for Optics and Photonics}
}

@inproceedings{fleming2012robust,
  title={Robust dynamic programming method for ultrasound elastography},
  author={Fleming, Ioana and Rivaz, Hassan and Boctor, Emad and Hager, Gregory},
  booktitle={Medical Imaging 2012: Ultrasonic Imaging, Tomography, and Therapy},
  volume={8320},
  pages={83201K},
  year={2012},
  organization={International Society for Optics and Photonics}
}

@article{suzuki200816,
  title={16 Capturing an Evader in a Building},
  author={Suzuki, Ichiro and Zylinski, Pawe{l} and Rawlinson, David and Jarvis, Ray and Chen, Chunlin and Li, Han-Xiong and Dong, Daoyi and Masehian, Ellips and Amin-Naseri, Mohammad Reza and Bhattacharya, Priyadarshi and others},
  journal={IEEE Robotics & Automation Magazine},
  year={2008}
}

@inproceedings{lin2009user,
  title={User-independent models of manipulation using video contextual cues},
  author={Lin, H and Hager, G},
  booktitle={International Workshop on Modeling and Monitoring of Computer Assisted Interventions (M2CAI)-Workshop},
  year={2009}
}

@article{fichtinger2008surgical,
  title={Surgical and interventional robotics: Part II},
  author={Fichtinger, Gabor and Kazanzides, Peter and Okamura, Allison M and Hager, Gregory D and Whitcomb, Louis L and Taylor, Russell H},
  journal={IEEE Robotics & Automation Magazine},
  volume={15},
  number={3},
  pages={94--102},
  year={2008},
  publisher={IEEE}
}

@misc{kragic2012special,
  title={Special issue on robotic vision},
  author={Kragic, Danica and Hager, Gregory D},
  year={2012},
  publisher={SAGE Publications Sage UK: London, England}
}

@article{chaudhry2013dynamic,
  title={Dynamic template tracking and recognition},
  author={Chaudhry, Rizwan and Hager, Gregory and Vidal, Ren{'e}},
  journal={International journal of computer vision},
  volume={105},
  number={1},
  pages={19--48},
  year={2013},
  publisher={Springer US}
}

@misc{kumar2014system,
  title={System and method for the evaluation of or improvement of minimally invasive surgery skills},
  author={Kumar, Rajesh and Hager, Gregory D and Jog, Amod S and Yuh, David D},
  year={2014},
  month=sep # "~25",
  note={US Patent App. 13/883,516}
}

@article{ahmidi2012surgical,
  title={Surgical modelling, simulation and education},
  author={Ahmidi, N and Hager, GD and Ishii, M},
  journal={Int J CARS},
  volume={7},
  number={1},
  pages={S185--S200},
  year={2012}
}

@misc{taylor2016programmable,
  title={Programmable multispectral illumination system for surgery and visualization of light-sensitive tissues},
  author={Taylor, Russell H and Billings, Seth D and Gehlbach, Peter L and Hager, Gregory D and Handa, James T and Kang, Jin Ung and Vagvolgyi, Balazs and Sznitman, Raphael and Pezzementi, Zachary},
  year={2016},
  month=apr # "~26",
  note={US Patent 9,320,428}
}

@misc{rivaz2014method,
  title={Method and system for processing ultrasound data},
  author={Rivaz, Hassan and Hager, Gregory and Boctor, Emad M and Fleming, Ioana},
  year={2014},
  month=sep # "~2",
  note={US Patent 8,824,762}
}

@inproceedings{brucker2012sequential,
  title={Sequential scene parsing using range and intensity information},
  author={Brucker, Manuel and L{'e}onard, Simon and Bodenm{"u}ller, Tim and Hager, Gregory D},
  booktitle={2012 IEEE International Conference on Robotics and Automation},
  pages={5417--5424},
  year={2012},
  organization={IEEE}
}

@inproceedings{tao2012sparse,
  title={Sparse hidden markov models for surgical gesture classification and skill evaluation},
  author={Tao, Lingling and Elhamifar, Ehsan and Khudanpur, Sanjeev and Hager, Gregory D and Vidal, Ren{'e}},
  booktitle={International conference on information processing in computer-assisted interventions},
  pages={167--177},
  year={2012},
  organization={Springer, Berlin, Heidelberg}
}

@article{richa2012vision,
  title={Vision-based proximity detection in retinal surgery},
  author={Richa, Rog{'e}rio and Balicki, Marcin and Sznitman, Raphael and Meisner, Eric and Taylor, Russell and Hager, Gregory},
  journal={IEEE transactions on biomedical engineering},
  volume={59},
  number={8},
  pages={2291--2301},
  year={2012},
  publisher={IEEE}
}

@inproceedings{ahmidi2012objective,
  title={An objective and automated method for assessing surgical skill in endoscopic sinus surgery using eye-tracking and tool-motion data},
  author={Ahmidi, Narges and Ishii, Masaru and Fichtinger, Gabor and Gallia, Gary L and Hager, Gregory D},
  booktitle={International forum of allergy & rhinology},
  volume={2},
  number={6},
  pages={507--515},
  year={2012},
  organization={Wiley Subscription Services, Inc., A Wiley Company Hoboken}
}

@inproceedings{tokgozoglu2012color,
  title={Color-based hybrid reconstruction for endoscopy},
  author={Tokgozoglu, Haluk N and Meisner, Eric M and Kazhdan, Michael and Hager, Gregory D},
  booktitle={2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops},
  pages={8--15},
  year={2012},
  organization={IEEE}
}

@inproceedings{sznitman2012data,
  title={Data-driven visual tracking in retinal microsurgery},
  author={Sznitman, Raphael and Ali, Karim and Richa, Rogerio and Taylor, Russell H and Hager, Gregory D and Fua, Pascal},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={568--575},
  year={2012},
  organization={Springer, Berlin, Heidelberg}
}

@phdthesis{dame2010unified,
  title={A unified direct approach for visual servoing and visual tracking using mutual information},
  author={Dame, Amaury},
  year={2010},
  school={Universit{'e} Rennes 1}
}

@inproceedings{lea2012towards,
  title={Towards automated activity recognition in an intensive care unit},
  author={Lea, Colin S and Fackler, James C and Hager, Gregory D and Taylor, Russell H},
  booktitle={MICCAI Workshop on Modeling and Monitoring of Computer Assisted Interventions},
  pages={19--28},
  year={2012}
}

@misc{hager2016system,
  title={System and method for detecting and tracking a curvilinear object in a three-dimensional space},
  author={Hager, Gregory Donald and Padoy, Nicolas},
  year={2016},
  month=sep # "~20",
  note={US Patent 9,449,241}
}

@misc{balicki2017visual,
  title={Visual tracking and annotaton of clinically important anatomical landmarks for surgical interventions},
  author={Balicki, Marcin A and Taylor, Russell H and Hager, Gregory D and Gehlbach, Peter L and Handa, James T and Kumar, Rajesh},
  year={2017},
  month=nov # "~14",
  note={US Patent 9,814,392}
}

@inproceedings{bohren2011toward,
  title={Toward practical semi-autonomous teleoperation: Do what i intend, not what i do},
  author={Bohren, Jonathan and Guerin, Kelleher and Xia, Tian and Hager, Gregory D and Kazanzides, Peter and Whitcomb, Louis L},
  booktitle={Advanced Robotics and its Social Impacts},
  pages={20--23},
  year={2011},
  organization={IEEE}
}

@inproceedings{jog2011towards,
  title={Towards integrating task information in skills assessment for dexterous tasks in surgery and simulation},
  author={Jog, Amod and Itkowitz, Brandon and Liu, May and DiMaio, Simon and Hager, Greg and Curet, Myriam and Kumar, Rajesh},
  booktitle={2011 IEEE International Conference on Robotics and Automation},
  pages={5273--5278},
  year={2011},
  organization={IEEE}
}

@inproceedings{toyama1995tracker,
  title={Tracker fusion for robustness in visual feature tracking},
  author={Toyama, Kentaro and Hager, Gregory D},
  booktitle={Sensor Fusion and Networked Robotics VIII},
  volume={2589},
  pages={38--49},
  year={1995},
  organization={International Society for Optics and Photonics}
}

@incollection{feiten1998modeling,
  title={Modeling and control for mobile manipulation in everyday environments},
  author={Feiten, Wendelin and Magnussen, Bj{"o}rn and Hager, Gregory D and Toyama, Kentaro},
  booktitle={Robotics Research},
  pages={14--22},
  year={1998},
  publisher={Springer, London}
}

@inproceedings{padoy2012deformable,
  title={Deformable Tracking of Textured Curvilinear Objects.},
  author={Padoy, Nicolas and Hager, Gregory D},
  booktitle={BMVC},
  pages={1--11},
  year={2012}
}

@inproceedings{ahmidi2012robotic,
  title={Robotic path planning for surgeon skill evaluation in minimally-invasive sinus surgery},
  author={Ahmidi, Narges and Hager, Gregory D and Ishii, Lisa and Gallia, Gary L and Ishii, Masaru},
  booktitle={international conference on medical image computing and computer-assisted intervention},
  pages={471--478},
  year={2012},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{richa2012hybrid,
  title={Hybrid tracking and mosaicking for information augmentation in retinal surgery},
  author={Richa, Rog{'e}rio and V{'a}gv{"o}lgyi, Bal{'a}zs and Balicki, Marcin and Hager, Gregory and Taylor, Russell H},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={397--404},
  year={2012},
  organization={Springer, Berlin, Heidelberg}
}

@article{sznitman2013unified,
  title={Unified detection and tracking of instruments during retinal microsurgery},
  author={Sznitman, Raphael and Richa, Rogerio and Taylor, R and Jedynak, Bruno and Hager, G},
  journal={IEEE PAMI},
  volume={35},
  number={5},
  pages={1263--1273},
  year={2013},
  publisher={IEEE}
}

@inproceedings{bodenstedt2012learned,
  title={Learned Partial Automation for Shared Control in Tele-Robotic Manipulation.},
  author={Bodenstedt, Sebastian and Padoy, Nicolas and Hager, Gregory D},
  booktitle={AAAI Fall Symposium: Robots Learning Interactively from Human Teachers},
  year={2012}
}

@misc{kumar2014method,
  title={Method and system for analyzing a task trajectory},
  author={Kumar, Rajesh and Hager, Gregory D and Jog, Amod S and Gao, Yixin and Liu, May and DiMaio, Simon Peter and Itkowitz, Brandon and Curet, Myriam},
  year={2014},
  month=dec # "~25",
  note={US Patent App. 14/115,092}
}

@misc{hager2016human,
  title={Human-machine collaborative robotic systems},
  author={Hager, Gregory and Padoy, Nicolas},
  year={2016},
  month=mar # "~15",
  note={US Patent 9,283,675}
}

@article{foroughi2013freehand,
  title={A freehand ultrasound elastography system with tracking for in vivo applications},
  author={Foroughi, Pezhman and Kang, Hyun-Jae and Carnegie, Daniel A and van Vledder, Mark G and Choti, Michael A and Hager, Gregory D and Boctor, Emad M},
  journal={Ultrasound in medicine & biology},
  volume={39},
  number={2},
  pages={211--225},
  year={2013},
  publisher={Elsevier}
}

@misc{das2013systems,
  title={Systems and Methods for Motion and Distance Measurement in Gastrointestinal Endoscopy},
  author={Das, Dipankar and Filipovich, Marcus O and Corso, Jason J and Hager, Gregory D},
  year={2013},
  month=jan # "~3",
  note={US Patent App. 13/457,305}
}

@article{fleming2012ultrasound,
  title={Ultrasound elastography as a tool for imaging guidance during prostatectomy: initial experience},
  author={Fleming, Ioana Nicolaescu and Kut, Carmen and Macura, Katarzyna J and Su, Li-Ming and Rivaz, Hassan and Schneider, Caitlin and Hamper, Ulrike and Lotan, Tamara and Taylor, Russ and Hager, Gregory and others},
  journal={Medical science monitor: international medical journal of experimental and clinical research},
  volume={18},
  number={11},
  pages={CR635},
  year={2012},
  publisher={International Scientific Information, Inc.}
}

@article{lea20133d,
  title={3D sensing algorithms towards building an intelligent intensive care unit},
  author={Lea, Colin and Facker, James and Hager, Gregory and Taylor, Russell and Saria, Suchi},
  journal={AMIA summits on translational science proceedings},
  volume={2013},
  pages={136},
  year={2013},
  publisher={American Medical Informatics Association}
}

@inproceedings{li2008computer,
  title={Computer Aided Diagnosis Algorithms for Cervical Cancer Digital Imagery},
  author={Li, Wenjing and Venkataraman, Sankar and Park, Sun-Young and Gustafsson, Ulf and Hager, Gregory},
  booktitle={ECS Meeting Abstracts},
  number={27},
  pages={2018},
  year={2008},
  organization={IOP Publishing}
}

@article{mirota2013evaluation,
  title={Evaluation of a system for high-accuracy 3d image-based registration of endoscopic video to c-arm cone-beam ct for image-guided skull base surgery},
  author={Mirota, Daniel J and Uneri, Ali and Schafer, Sebastian and Nithiananthan, Sajendra and Reh, Douglas D and Ishii, Masaru and Gallia, Gary L and Taylor, Russell H and Hager, Gregory D and Siewerdsen, Jeffrey H},
  journal={IEEE transactions on medical imaging},
  volume={32},
  number={7},
  pages={1215--1226},
  year={2013},
  publisher={IEEE}
}

@article{becker2013vision,
  title={Vision-based control of a handheld surgical micromanipulator with virtual fixtures},
  author={Becker, Brian C and MacLachlan, Robert A and Lobes, Louis A and Hager, Gregory D and Riviere, Cameron N},
  journal={IEEE Transactions on Robotics},
  volume={29},
  number={3},
  pages={674--683},
  year={2013},
  publisher={IEEE}
}

@inproceedings{li2012robust,
  title={Robust object tracking in crowd dynamic scenes using explicit stereo depth},
  author={Li, Chi and Lu, Le and Hager, Gregory D and Tang, Jianyu and Wang, Hanzi},
  booktitle={Asian Conference on Computer Vision},
  pages={71--85},
  year={2012},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{hager1991deciding,
  title={Deciding not to decide using resource-bounded sensing},
  author={Hager, Gregory D},
  booktitle={Sensor Fusion III: 3D Perception and Recognition},
  volume={1383},
  pages={379--390},
  year={1991},
  organization={International Society for Optics and Photonics}
}

@phdthesis{corso2005techniques,
  title={Techniques for vision-based human-computer interaction},
  author={Corso, Jason J},
  year={2005},
  school={Johns Hopkins University}
}

@article{ward2006ieee,
  title={IEEE Announces 2006 Fellows},
  author={Ward, Bob},
  journal={IEEE Annals of the History of Computing},
  volume={39},
  number={02},
  pages={79--83},
  year={2006},
  publisher={IEEE Computer Society}
}

@inproceedings{belhumeur1999image,
  title={Image Variability Decomposition for Recovering Pose and Illumination from Object Tracking},
  author={Belhumeur, Peter N and Hager, Gregory D},
  booktitle={International Conference on Advances in Pattern Recognition},
  pages={93--102},
  year={1999},
  organization={Springer, London}
}

@inproceedings{sznitman2010adaptive,
  title={Adaptive multispectral illumination for retinal microsurgery},
  author={Sznitman, Raphael and Rother, Diego and Handa, Jim and Gehlbach, Peter and Hager, Gregory D and Taylor, Russell},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={465--472},
  year={2010},
  organization={Springer, Berlin, Heidelberg}
}

@misc{boctor2013interventional,
  title={Interventional In-Situ Image-Guidance by Fusing Ultrasound and Video},
  author={Boctor, Emad Mikhail and Hager, Gregory Donald and Stolka, Philipp Jakob and Heisenberg, Dorothee},
  year={2013},
  month=aug # "~22",
  note={US Patent App. 13/648,245}
}

@article{zappella2013surgical,
  title={Surgical gesture classification from video and kinematic data},
  author={Zappella, Luca and B{'e}jar, Benjam{'i}n and Hager, Gregory and Vidal, Ren{'e}},
  journal={Medical image analysis},
  volume={17},
  number={7},
  pages={732--745},
  year={2013},
  publisher={Elsevier}
}

@article{meisner2013anatomical,
  title={Anatomical reconstructions of pediatric airways from endoscopic images: a pilot study of the accuracy of quantitative endoscopy},
  author={Meisner, Eric M and Hager, Gregory D and Ishman, Stacey L and Brown, David and Tunkel, David E and Ishii, Masaru},
  journal={The Laryngoscope},
  volume={123},
  number={11},
  pages={2880--2887},
  year={2013}
}

@misc{hager1995robot,
  title={ROBOT HAND-EYE COORDINATION BASED ON STEREO VISION (VOL 15, PG 30, 1995)},
  author={HAGER, G},
  journal={IEEE CONTROL SYSTEMS MAGAZINE},
  volume={15},
  number={2},
  pages={85--85},
  year={1995},
  publisher={IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC 345 E 47TH ST, NEW YORK, NY~'85}
}

@article{almario2009incremental,
  title={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): 1413},
  author={Almario, Jose Antonio and Gorospe, Emmanuel and Rajan, Purnima and Hager, Gregory and Kage, Andreas and Winter, Christian and Wittenberg, Thomas and M{"u}nzenmayer, Christian and Canto, Marcia},
  journal={American Journal of Gastroenterology},
  volume={104},
  pages={S531},
  year={2009},
  publisher={LWW}
}

@article{almario2009accuracy,
  title={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: 1414},
  author={Almario, Jose Antonio and Gorospe, Emmanuel and Rajan, Purnima and Winter, Christian and Kage, Andreas and Wittenberg, Thomas and M{"u}nzenmayer, Christian and Hager, Gregory and Canto, Marcia},
  journal={American Journal of Gastroenterology},
  volume={104},
  pages={S532},
  year={2009},
  publisher={LWW}
}

@inproceedings{bohren2013pilot,
  title={A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks},
  author={Bohren, Jonathan and Papazov, Chavdar and Burschka, Darius and Krieger, Kai and Parusel, Sven and Haddadin, Sami and Shepherdson, William L and Hager, Gregory D and Whitcomb, Louis L},
  booktitle={2013 IEEE International Conference on Robotics and Automation},
  pages={3631--3638},
  year={2013},
  organization={IEEE}
}

@article{fritsch1998fisher,
  title={Fisher, Robert B., 253 Fitzgibbon, Andrew W., 253 Flynn, Patrick J., 251},
  author={Fritsch, Daniel S and Bhattacharya, Prabir and Bolduc, Marc and Bournez, Olivier and Bowyer, Kevin and Boyer, Edmond and Bruckstein, Alfred M and Camps, Octavia and Carpenter, Gail A and Chelberg, David M and others},
  year={1998}
}

@inproceedings{hager2002human,
  title={Human-machine cooperative manipulation with vision-based motion constraints},
  author={Hager, Gregory D},
  booktitle={WS2: Workshop on Visual Servoing},
  pages={1},
  year={2002}
}

@article{le2004three,
  title={A three tiered approach for articulated object action modeling and recognition},
  author={Le Lu Gregory, D Hager and Younes, Laurent},
  year={2004}
}

@inproceedings{marchand1998dynamic,
  title={Dynamic sensor planning in visual servoing},
  author={Marchand, Eric and Hager, Gregory D},
  booktitle={Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146)},
  volume={3},
  pages={1988--1993},
  year={1998},
  organization={IEEE}
}

@article{guillemot2013live,
  title={Live retinal image mosaicking during fundus examination with a computer-assisted slit-lamp prototype},
  author={Guillemot, C and Richa, R and Comunello, E and Von Wangenheim, A and Schnitzler, JY and Wassmer, B and Hager, G and Taylor, R and Thuret, G and Gain, P},
  journal={Acta Ophthalmologica},
  volume={91},
  year={2013},
  publisher={Blackwell Publishing Ltd Oxford, UK}
}

@inproceedings{tao2013surgical,
  title={Surgical gesture segmentation and recognition},
  author={Tao, Lingling and Zappella, Luca and Hager, Gregory D and Vidal, Ren{'e}},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={339--346},
  year={2013},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{ahmidi2013string,
  title={String motif-based description of tool motion for detecting skill and gestures in robotic surgery},
  author={Ahmidi, Narges and Gao, Yixin and B{'e}jar, Benjam{'i}n and Vedula, S Swaroop and Khudanpur, Sanjeev and Vidal, Ren{'e} and Hager, Gregory D},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={26--33},
  year={2013},
  organization={Springer, Berlin, Heidelberg}
}

@article{rivaz2014ultrasound,
  title={Ultrasound elastography using multiple images},
  author={Rivaz, Hassan and Boctor, Emad M and Choti, Michael A and Hager, Gregory D},
  journal={Medical image analysis},
  volume={18},
  number={2},
  pages={314--329},
  year={2014},
  publisher={Elsevier}
}

@misc{hager2016imaging,
  title={Imaging system and method for use of same to determine metric scale of imaged bodily anatomy},
  author={Hager, Gregory D and Ishii, Masaru and Meisner, Eric M and Marota, Daniel J and Tokgozoglu, Haluk N},
  year={2016},
  month=jun # "~14",
  note={US Patent 9,367,914}
}

@article{ramsey2014automated,
  title={Automated image alignment and segmentation to follow progression of geographic atrophy in age-related macular degeneration},
  author={Ramsey, David J and Sunness, Janet S and Malviya, Poorva and Applegate, Carol and Hager, Gregory D and Handa, James T},
  journal={Retina},
  volume={34},
  number={7},
  pages={1296--1307},
  year={2014},
  publisher={LWW}
}

@inproceedings{bergen2013graph,
  title={A graph-based approach for local and global panorama imaging in cystoscopy},
  author={Bergen, Tobias and Wittenberg, Thomas and M{"u}nzenmayer, Christian and Chen, Chi Chiung Grace and Hager, Gregory D},
  booktitle={Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling},
  volume={8671},
  pages={86711K},
  year={2013},
  organization={International Society for Optics and Photonics}
}

@misc{vincze1998robust,
  title={Robust Vision for Vision-based Control of Motion: Workshop WS 2; ICRA'98, Leuven, Belgium, Saturday, May 16, 1998},
  author={Vincze, Markus},
  year={1998}
}

@article{hager2009surgical,
  title={Surgical Assistance},
  author={Hager, Gregory D},
  year={2009}
}

@article{richa2014fundus,
  title={Fundus image mosaicking for information augmentation in computer-assisted slit-lamp imaging},
  author={Richa, Rog{'e}rio and Linhares, Rodrigo and Comunello, Eros and Von Wangenheim, Aldo and Schnitzler, Jean-Yves and Wassmer, Benjamin and Guillemot, Claire and Thuret, Gilles and Gain, Philippe and Hager, Gregory and others},
  journal={IEEE transactions on medical imaging},
  volume={33},
  number={6},
  pages={1304--1312},
  year={2014},
  publisher={IEEE}
}

@inproceedings{malpani2014pairwise,
  title={Pairwise comparison-based objective score for automated skill assessment of segments in a surgical task},
  author={Malpani, Anand and Vedula, S Swaroop and Chen, Chi Chiung Grace and Hager, Gregory D},
  booktitle={International Conference on Information Processing in Computer-Assisted Interventions},
  pages={138--147},
  year={2014},
  organization={Springer, Cham}
}

@article{hager1993solving,
  title={Solving large systems of nonlinear constraints with application to data modeling},
  author={Hager, Gregory D},
  journal={Interval Computations},
  volume={3},
  number={169-200},
  pages={240},
  year={1993}
}

@article{malikdimacs,
  title={DIMACS Workshop on Large Scale Discrete Optimization in Robotics and Vision},
  author={Malik, Jitendra and Ponce, Jean and Zabih, Ramin and Forsyth, David and Mumford, David and Senior, Andrew and Sorkin, Gregory and Kavraki, Lydia and Geiger, Davi and Dickinson, Sven and others}
}

@inproceedings{kragic2005erratum,
  title={Erratum: Human-Machine Collaborative Systems for Microsurgical Applications},
  author={Kragic, Danica and Marayong, Panadda and Li, Ming and Okamura, Allison M and Hager, Gregory D},
  booktitle={Robotics Research. The Eleventh International Symposium},
  pages={E1--E1},
  year={2005},
  organization={Springer, Berlin, Heidelberg}
}

@inproceedings{stolka2014needle,
  title={Needle guidance using handheld stereo vision and projection for ultrasound-based interventions},
  author={Stolka, Philipp J and Foroughi, Pezhman and Rendina, Matthew and Weiss, Clifford R and Hager, Gregory D and Boctor, Emad M},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={684--691},
  year={2014},
  organization={Springer, Cham}
}

@inproceedings{gao2014jhu,
  title={Jhu-isi gesture and skill assessment working set (jigsaws): A surgical activity dataset for human motion modeling},
  author={Gao, Yixin and Vedula, S Swaroop and Reiley, Carol E and Ahmidi, Narges and Varadarajan, Balakrishnan and Lin, Henry C and Tao, Lingling and Zappella, Luca and B{'e}jar, Benjam{i}n and Yuh, David D and others},
  booktitle={MICCAI workshop: M2cai},
  volume={3},
  pages={3},
  year={2014}
}

@inproceedings{xiang2015hierarchical,
  title={Hierarchical sparse and collaborative low-rank representation for emotion recognition},
  author={Xiang, Xiang and Dao, Minh and Hager, Gregory D and Tran, Trac D},
  booktitle={2015 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
  pages={3811--3815},
  year={2015},
  organization={IEEE}
}

@inproceedings{guerin2014adjutant,
  title={Adjutant: A framework for flexible human-machine collaborative systems},
  author={Guerin, Kelleher R and Riedel, Sebastian D and Bohren, Jonathan and Hager, Gregory D},
  booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={1392--1399},
  year={2014},
  organization={IEEE}
}

@inproceedings{xiang2014multi,
  title={Is multi-model feature matching better for endoscopic motion estimation?},
  author={Xiang, Xiang and Mirota, Daniel and Reiter, Austin and Hager, Gregory D},
  booktitle={International Workshop on Computer-Assisted and Robotic Endoscopy},
  pages={88--98},
  year={2014},
  organization={Springer, Cham}
}

@article{roncal2014automated,
  title={AN AUTOMATED IMAGES-TO-GRAPHS PIPELINE FOR HIGH RESOLUTION CONNECTOMICS},
  author={Roncal, William Gray and Kleissas, Dean M and Vogelstein, Joshua T and Manavalan, Priya and Burns, Randal and Vogelstein, R Jacob and Priebe, Carey E and Chevillet, Mark A and Hager, Gregory D},
  journal={CoRR},
  year={2014}
}

@article{roncal2014volumetric,
  title={Volumetric exploitation of synaptic information using context localization and evaluation},
  author={Roncal, William Gray and Kaynig-Fittkau, Verena and Kasthuri, Narayanan and Berger, Daniel and Vogelstein, Joshua T and Fernandez, Lindsey R and Lichtman, Jeff W and Vogelstein, R Jacob and Pfister, Hanspeter and Hager, Gregory D},
  journal={arXiv preprint arXiv:1403.3724},
  year={2014}
}

@inproceedings{lea2015improved,
  title={An improved model for segmentation and recognition of fine-grained activities with application to surgical training tasks},
  author={Lea, Colin and Hager, Gregory D and Vidal, Rene},
  booktitle={2015 IEEE winter conference on applications of computer vision},
  pages={1123--1129},
  year={2015},
  organization={IEEE}
}

@article{poddar2014automated,
  title={Automated objective surgical skill assessment in the operating room using unstructured tool motion},
  author={Poddar, Piyush and Ahmidi, Narges and Vedula, S Swaroop and Ishii, Lisa and Hager, Gregory D and Ishii, Masaru},
  journal={arXiv preprint arXiv:1412.6163},
  year={2014}
}

@article{deshmukh2014elastography,
  title={Elastography using multi-stream GPU: an application to online tracked ultrasound elastography, in-vivo and the da Vinci surgical system},
  author={Deshmukh, Nishikant P and Kang, Hyun Jae and Billings, Seth D and Taylor, Russell H and Hager, Gregory D and Boctor, Emad M},
  journal={PloS one},
  volume={9},
  number={12},
  pages={e115881},
  year={2014},
  publisher={Public Library of Science}
}

@misc{taylor2014augmented,
  title={Augmented field of view imaging system},
  author={Taylor, Russell H and Vagvolgyi, Balazs Peter and Hager, Gregory D and Rogerio, Richa},
  year={2014},
  month=jun # "~12",
  note={US Patent App. 13/710,085}
}

@misc{stolka2014surgical,
  title={Surgical needle for a surgical system with optical recognition},
  author={Stolka, Philipp Jakob and Foroughi, Pezhman and Rendina, Matthew C and Hager, Gregory Donald and Boctor, Emad Mikhail},
  year={2014},
  month=nov # "~4",
  note={US Patent 8,880,151}
}

@article{kumar2001short,
  title={Short Posters-Medical Robotics and Devices II-Applications of Task-Level Augmentation for Cooperative Fine Manipulation Tasks in Surgery},
  author={Kumar, R and Barnes, AC and Hager, GD and Jensen, PS and Taylor, RH},
  journal={Lecture Notes in Computer Science},
  volume={2208},
  pages={1417--1418},
  year={2001},
  publisher={Berlin: Springer-Verlag, 1973-}
}

@misc{guerin2014dockable,
  title={Dockable Tool Framework for Interaction with Large Scale Wall Displays},
  author={Guerin, Kelleher Riccio and Hager, Gregory},
  year={2014},
  month=mar # "~13",
  note={US Patent App. 14/026,152}
}

@article{paxton2014towards,
  title={Towards a Standard for Grounding Symbols for Robotic Task Ontologies},
  author={Paxton, Chris and Bohren, Jonathan and Hager, Gregory D},
  journal={INTERNATIONAL PROGRAM COMMITTEE},
  pages={24},
  year={2014}
}

@inproceedings{otake2015rendering,
  title={Rendering-based video-CT registration with physical constraints for image-guided endoscopic sinus surgery},
  author={Otake, Y and Leonard, S and Reiter, A and Rajan, P and Siewerdsen, JH and Gallia, GL and Ishii, M and Taylor, RH and Hager, GD},
  booktitle={SPIE Medical Imaging},
  pages={94150A--94150A},
  year={2015},
  organization={International Society for Optics and Photonics}
}

@inproceedings{fleming2015iterative,
  title={Iterative motion compensation approach for ultrasonic thermal imaging},
  author={Fleming, Ioana and Hager, Gregory and Guo, Xiaoyu and Kang, Hyun Jae and Boctor, Emad},
  booktitle={Medical Imaging 2015: Ultrasonic Imaging and Tomography},
  volume={9419},
  pages={94190Z},
  year={2015},
  organization={International Society for Optics and Photonics}
}

@inproceedings{guerin2015framework,
  title={A framework for end-user instruction of a robot assistant for manufacturing},
  author={Guerin, Kelleher R and Lea, Colin and Paxton, Chris and Hager, Gregory D},
  booktitle={2015 IEEE international conference on robotics and automation (ICRA)},
  pages={6167--6174},
  year={2015},
  organization={IEEE}
}

@inproceedings{belhumeur2012image,
  title={IMAGE VARIABILITY DECOMPOSITION FOR RECOVERING},
  author={Belhumeur, Peter N and Hager, Gregory D},
  booktitle={International Conference on Advances in Pattern Recognition: Proceedings of ICAPR'9298, 23--25 November 1998, Plymouth, UK},
  pages={93},
  year={2012},
  organization={Springer Science & Business Media}
}

@article{ahmidi2015automated,
  title={Automated objective surgical skill assessment in the operating room from unstructured tool motion in septoplasty},
  author={Ahmidi, Narges and Poddar, Piyush and Jones, Jonathan D and Vedula, S Swaroop and Ishii, Lisa and Hager, Gregory D and Ishii, Masaru},
  journal={International journal of computer assisted radiology and surgery},
  volume={10},
  number={6},
  pages={981--991},
  year={2015},
  publisher={Springer Berlin Heidelberg}
}

@inproceedings{hager2012task,
  title={Task-Directed Sensor-Planning},
  author={Hager, Gregory D},
  booktitle={Data Fusion Applications: Workshop Proceedings Brussels, November 25, 1992},
  volume={1},
  pages={87},
  year={2012},
  organization={Springer Science & Business Media}
}

@inproceedings{li2015beyond,
  title={Beyond spatial pooling: fine-grained representation learning in multiple domains},
  author={Li, Chi and Reiter, Austin and Hager, Gregory D},
  booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
  pages={4913--4922},
  year={2015}
}

@inproceedings{krishnan2015unsupervised,
  title={Unsupervised surgical task segmentation with milestone learning},
  author={Krishnan, Sanjay and Garg, Animesh and Patil, Sachin and Lea, Colin and Hager, Gregory and Abbeel, Pieter and Goldberg, Ken},
  booktitle={Proc. Intl Symp. on Robotics Research (ISRR)},
  year={2015}
}

@misc{stolka2017ultrasound,
  title={Ultrasound system with stereo image guidance or tracking},
  author={Stolka, Philipp Jakob and Foroughi, Pezhman and Rendina, Matthew C and Hager, Gregory Donald and Boctor, Emad Mikhail},
  year={2017},
  month=apr # "~18",
  note={US Patent 9,622,720}
}

@phdthesis{soto2002probabilistic,
  title={A probabilistic approach for the adaptive integration of multiple visual cues using an agent framework},
  author={Soto, Alvaro},
  year={2002},
  school={Carnegie Mellon University, the Robotics Institute}
}

@inproceedings{paxton2015incremental,
  title={An incremental approach to learning generalizable robot tasks from human demonstration},
  author={Paxton, Chris and Hager, Gregory D and Bascetta, Luca and others},
  booktitle={2015 IEEE international conference on robotics and automation (ICRA)},
  pages={5616--5621},
  year={2015},
  organization={IEEE}
}

@article{abbeel2016toward,
  title={Toward a Science of Autonomy for Physical Systems: Paths},
  author={Abbeel, Pieter and Goldberg, Ken and Hager, Gregory and Shah, Julie},
  journal={arXiv preprint arXiv:1609.05814},
  year={2016}
}

@article{malpani2015study,
  title={A study of crowdsourced segment-level surgical skill assessment using pairwise rankings},
  author={Malpani, Anand and Vedula, S Swaroop and Chen, Chi Chiung Grace and Hager, Gregory D},
  journal={International journal of computer assisted radiology and surgery},
  volume={10},
  number={9},
  pages={1435--1447},
  year={2015},
  publisher={Springer Berlin Heidelberg}
}

@article{gray2015automated,
  title={An automated images-to-graphs framework for high resolution connectomics},
  author={Gray Roncal, William R and Kleissas, Dean Mark and Vogelstein, Joshua T and Manavalan, Priya and Lillaney, Kunal and Pekala, Michael and Burns, Randal and Vogelstein, R Jacob and Priebe, Carey E and Chevillet, Mark A and others},
  journal={Frontiers in neuroinformatics},
  volume={9},
  pages={20},
  year={2015},
  publisher={Frontiers}
}

@incollection{li2018bridging,
  title={Bridging the robot perception gap with mid-level vision},
  author={Li, Chi and Bohren, Jonathan and Hager, Gregory D},
  booktitle={Robotics Research},
  pages={5--20},
  year={2018},
  publisher={Springer, Cham}
}

@article{deshmukh2015five,
  title={Five-dimensional ultrasound system for soft tissue visualization},
  author={Deshmukh, Nishikant P and Caban, Jesus J and Taylor, Russell H and Hager, Gregory D and Boctor, Emad M},
  journal={International journal of computer assisted radiology and surgery},
  volume={10},
  number={12},
  pages={1927--1939},
  year={2015},
  publisher={Springer Berlin Heidelberg}
}

@article{krishnan2017transition,
  title={Transition state clustering: Unsupervised surgical trajectory segmentation for robot learning},
  author={Krishnan, Sanjay and Garg, Animesh and Patil, Sachin and Lea, Colin and Hager, Gregory and Abbeel, Pieter and Goldberg, Ken},
  journal={The International Journal of Robotics Research},
  volume={36},
  number={13-14},
  pages={1595--1618},
  year={2017},
  publisher={SAGE Publications Sage UK: London, England}
}

@article{chen2015warm,
  title={Warm-up before robotic hysterectomy does not improve trainee operative performance: a randomized trial},
  author={Chen, CCG and Tanner, E and Malpani, A and Vedula, SS and Fader, AN and Scheib, SA and Green, IC and Hager, GD},
  journal={Journal of minimally invasive gynecology},
  volume={22},
  number={6},
  pages={S34},
  year={2015},
  publisher={Elsevier}
}

@inproceedings{lea2016learning,
  title={Learning convolutional action primitives from multimodal timeseries data},
  author={Lea, Colin and Vidal, Ren{'e} and Hager, Gregory D},
  booktitle={Proceedings of the IEEE international conference on robotics and automation'97ICRA},
  year={2016}
}

@article{vagvolgyi2008augmented,
  title={Augmented reality using registration of 3D CT to stereoscopic video of laparoscopic renal surgery},
  author={Vagvolgyi, Balazs and Agarwal, Rahul and Reiley, Carol E and Hager, Gregory D and Taylor, Russell and Su, Li-Ming},
  journal={Journal of Endourology},
  volume={22},
  number={11},
  pages={2632--2634},
  year={2008},
  publisher={Mary Ann Liebert, Inc.}
}

@article{roncal2014vesicle,
  title={Vesicle: volumetric evaluation of synaptic interfaces using computer vision at large scale},
  author={Roncal, William Gray and Pekala, Michael and Kaynig-Fittkau, Verena and Kleissas, Dean M and Vogelstein, Joshua T and Pfister, Hanspeter and Burns, Randal and Vogelstein, R Jacob and Chevillet, Mark A and Hager, Gregory D},
  journal={arXiv preprint arXiv:1403.3724},
  year={2014}
}

@article{malpani2016system,
  title={System events: readily accessible features for surgical phase detection},
  author={Malpani, Anand and Lea, Colin and Chen, Chi Chiung Grace and Hager, Gregory D},
  journal={International journal of computer assisted radiology and surgery},
  volume={11},
  number={6},
  pages={1201--1209},
  year={2016},
  publisher={Springer Berlin Heidelberg}
}

@inproceedings{li2016hierarchical,
  title={Hierarchical semantic parsing for object pose estimation in densely cluttered scenes},
  author={Li, Chi and Bohren, Jonathan and Carlson, Eric and Hager, Gregory D},
  booktitle={2016 IEEE international conference on robotics and automation (ICRA)},
  pages={5068--5075},
  year={2016},
  organization={IEEE}
}

@article{vedula2016task,
  title={Task-level vs. segment-level quantitative metrics for surgical skill assessment},
  author={Vedula, S Swaroop and Malpani, Anand and Ahmidi, Narges and Khudanpur, Sanjeev and Hager, Gregory and Chen, Chi Chiung Grace},
  journal={Journal of surgical education},
  volume={73},
  number={3},
  pages={482--489},
  year={2016},
  publisher={Elsevier}
}

@article{paxton2016towards,
  title={Towards Robot Task Planning From Probabilistic Models of Human Skills},
  author={Paxton, Chris and Kobilarov, Marin and Hager, Gregory D},
  journal={arXiv preprint arXiv:1602.04754},
  year={2016}
}

@article{lea2016efficient,
  title={Efficient segmental inference for spatiotemporal modeling of fine-grained actions},
  author={Lea, Colin and Reiter, Austin and Vidal, Ren{'e} and Hager, Gregory D},
  journal={arXiv preprint arXiv:1602.02995},
  year={2016}
}

@misc{guerin2016system,
  title={System and method for flexible human-machine collaboration},
  author={Guerin, Kelleher and Hager, Gregory D and Riedel, Sebastian},
  year={2016},
  month=mar # "~1",
  note={US Patent 9,272,418}
}

@article{vedula2016analysis,
  title={Analysis of the structure of surgical activity for a suturing and knot-tying task},
  author={Vedula, S Swaroop and Malpani, Anand O and Tao, Lingling and Chen, George and Gao, Yixin and Poddar, Piyush and Ahmidi, Narges and Paxton, Christopher and Vidal, Rene and Khudanpur, Sanjeev and others},
  journal={PloS one},
  volume={11},
  number={3},
  pages={e0149174},
  year={2016},
  publisher={Public Library of Science San Francisco, CA USA}
}

@inproceedings{reiter2016endoscopic,
  title={Endoscopic-CT: learning-based photometric reconstruction for endoscopic sinus surgery},
  author={Reiter, Austin and L{'e}onard, Simon and Sinha, Ayushi and Ishii, Masaru and Taylor, Russell H and Hager, Gregory D},
  booktitle={Medical Imaging 2016: Image Processing},
  volume={9784},
  pages={978418},
  year={2016},
  organization={International Society for Optics and Photonics}
}

@inproceedings{leonard2016image,
  title={Image-based navigation for functional endoscopic sinus surgery using structure from motion},
  author={Leonard, Simon and Reiter, Austin and Sinha, Ayushi and Ishii, Masaru and Taylor, Russell H and Hager, Gregory D},
  booktitle={Medical Imaging 2016: Image Processing},
  volume={9784},
  pages={97840V},
  year={2016},
  organization={International Society for Optics and Photonics}
}

@inproceedings{sinha2016automatic,
  title={Automatic segmentation and statistical shape modeling of the paranasal sinuses to estimate natural variations},
  author={Sinha, Ayushi and Leonard, Simon and Reiter, Austin and Ishii, Masaru and Taylor, Russell H and Hager, Gregory D},
  booktitle={Medical Imaging 2016: Image Processing},
  volume={9784},
  pages={97840D},
  year={2016},
  organization={International Society for Optics and Photonics}
}

@inproceedings{lea2016segmental,
  title={Segmental spatiotemporal cnns for fine-grained action segmentation},
  author={Lea, Colin and Reiter, Austin and Vidal, Ren{'e} and Hager, Gregory D},
  booktitle={European Conference on Computer Vision},
  pages={36--52},
  year={2016},
  organization={Springer, Cham}
}

@inproceedings{rajan2015autonomous,
  title={Autonomous on-board Near Earth Object detection},
  author={Rajan, Purnima and Burlina, Philippe and Chen, M and Edell, D and Jedynak, Bruno and Mehta, N and Sinha, Ayushi and Hager, G},
  booktitle={2015 IEEE Applied Imagery Pattern Recognition Workshop (AIPR)},
  pages={1--10},
  year={2015},
  organization={IEEE}
}

@article{hager2016toward,
  title={Toward a science of autonomy for physical systems},
  author={Hager, Gregory D and Rus, Daniela and Kumar, Vijay and Christensen, Henrik},
  journal={arXiv preprint arXiv:1604.02979},
  year={2016}
}

@article{gao2016query,
  title={Query-by-example surgical activity detection},
  author={Gao, Yixin and Vedula, S Swaroop and Lee, Gyusung I and Lee, Mija R and Khudanpur, Sanjeev and Hager, Gregory D},
  journal={International journal of computer assisted radiology and surgery},
  volume={11},
  number={6},
  pages={987--996},
  year={2016},
  publisher={Springer Berlin Heidelberg}
}

@article{corso2016video,
  title={Video analysis for body-worn cameras in law enforcement},
  author={Corso, Jason J and Alahi, Alexandre and Grauman, Kristen and Hager, Gregory D and Morency, Louis-Philippe and Sawhney, Harpreet and Sheikh, Yaser},
  journal={arXiv preprint arXiv:1604.03130},
  year={2016}
}

@inproceedings{bohren2016semi,
  title={Semi-autonomous telerobotic assembly over high-latency networks},
  author={Bohren, Jonathan and Paxton, Chris and Howarth, Ryan and Hager, Gregory D and Whitcomb, Louis L},
  booktitle={2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages={149--156},
  year={2016},
  organization={IEEE}
}

@article{freeman2016guest,
  title={Guest Editorial: Special Section on CVPR 2013},
  author={Freeman, William T and Szeliski, Richard and Hager, Gregory D},
  journal={IEEE Computer Architecture Letters},
  volume={38},
  number={04},
  pages={625--626},
  year={2016},
  publisher={IEEE Computer Society}
}

@misc{reiley2017systems,
  title={Systems for quantifying clinical skill},
  author={Reiley, Carol E and Hager, Gregory D and Varadarajann, Balakrishnan and Khudanpur, Sanjeev Pralhad and Kumar, Rajesh and Lin, Henry C},
  year={2017},
  month=jun # "~27",
  note={US Patent 9,691,290}
}

@techreport{hager1995xvision,
  title={Xvision: APortable Substrate for Real-Time Vision Applications},
  author={Hager, GD and Toyama, K},
  year={1995},
  institution={Tech Report, Dept of Computer Science, Yale Univ}
}

@article{bajcsy2016message,
  title={Message from the general chair and program chairs},
  author={Bajcsy, Ruzena and Hager, Greg and Ma, Yi and Ikeuchi, Katsushi and Schn{"o}rr, Christoph and Sivic, Josef and Vidal, Ren{'e}},
  journal={Unknown Journal},
  volume={11},
  pages={xxxvi--xxxvii},
  year={2016},
  publisher={Elsevier Limited}
}

@misc{stolka2017system,
  title={System and devices for image targeting},
  author={Stolka, Philipp Jakob and Foroughi, Pezhman and Rendina, Matthew C and Hager, Gregory Donald},
  year={2017},
  month=dec # "~19",
  note={US Patent 9,844,360}
}

@misc{guerin2017system,
  title={System and method for flexible human-machine collaboration},
  author={Guerin, Kelleher and Hager, Gregory D and Riedel, Sebastian},
  year={2017},
  month=mar # "~7",
  note={US Patent 9,586,315}
}

@inproceedings{bajcsy1984tactile,
  title={TACTILE INFORMATION PROCESSING-THE BOTTOM UP APPROACH.},
  author={Bajcsy, Ruzena and Hager, Gregory},
  booktitle={Proceedings-International Conference on Pattern Recognition},
  pages={809--811},
  year={1984},
  organization={IEEE}
}

@inproceedings{gao2016unsupervised,
  title={Unsupervised surgical data alignment with application to automatic activity annotation},
  author={Gao, Yixin and Vedula, S Swaroop and Lee, Gyusung I and Lee, Mija R and Khudanpur, Sanjeev and Hager, Gregory D},
  booktitle={2016 IEEE international conference on robotics and automation (ICRA)},
  pages={4158--4163},
  year={2016},
  organization={IEEE}
}

@inproceedings{dipietro2016recognizing,
  title={Recognizing surgical activities with recurrent neural networks},
  author={DiPietro, Robert and Lea, Colin and Malpani, Anand and Ahmidi, Narges and Vedula, S Swaroop and Lee, Gyusung I and Lee, Mija R and Hager, Gregory D},
  booktitle={International conference on medical image computing and computer-assisted intervention},
  pages={551--558},
  year={2016},
  organization={Springer, Cham}
}

@inproceedings{rupprecht2016sensor,
  title={Sensor substitution for video-based action recognition},
  author={Rupprecht, Christian and Lea, Colin and Tombari, Federico and Navab, Nassir and Hager, Gregory D},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5230--5237},
  year={2016},
  organization={IEEE}
}

@article{vedula2017objective,
  title={Objective assessment of surgical technical skill and competency in the operating room},
  author={Vedula, S Swaroop and Ishii, Masaru and Hager, Gregory D},
  journal={Annual review of biomedical engineering},
  volume={19},
  pages={301--325},
  year={2017},
  publisher={Annual Reviews}
}

@inproceedings{lea2016surgical,
  title={Surgical phase recognition: from instrumented ORs to hospitals around the world},
  author={Lea, Colin and Choi, Joon Hyuck and Reiter, Austin and Hager, G},
  booktitle={Medical image computing and computer-assisted intervention M2CAI'97MICCAI workshop},
  pages={45--54},
  year={2016}
}

@article{roncal2016santiago,
  title={Santiago: Spine association for neuron topology improvement and graph optimization},
  author={Roncal, William Gray and Lea, Colin and Baruah, Akira and Hager, Gregory D},
  journal={arXiv preprint arXiv:1608.02307},
  year={2016}
}

@inproceedings{medioni2013message,
  title={Message from the General and Program Chairs},
  author={Medioni, G{'e}rard and Michael, David and Sarkar, Sudeep and Brown, Michael S and Feris, Rog{'e}rio and Sanderson, Conrad and Turk, Matthew},
  booktitle={Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
  pages={xxxvii--xxxviii},
  year={2013},
  organization={IEEE Computer Society}
}

@inproceedings{lea2016temporal,
  title={Temporal convolutional networks: A unified approach to action segmentation},
  author={Lea, Colin and Vidal, Rene and Reiter, Austin and Hager, Gregory D},
  booktitle={European Conference on Computer Vision},
  pages={47--54},
  year={2016},
  organization={Springer, Cham}
}

@inproceedings{andre2011retrieval,
  title={Retrieval evaluation and distance learning from perceived similarity between endomicroscopy videos},
  author={Andr{'e}, Barbara and Vercauteren, Tom and Buchner, Anna M and Wallace, Michael B and Ayache, Nicholas},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={297--304},
  year={2011},
  organization={Springer, Berlin, Heidelberg}
}

@misc{guerin2017robot,
  title={Robot control, training and collaboration in an immersive virtual reality environment},
  author={Guerin, Kelleher and Hager, Gregory D},
  year={2017},
  month=may # "~9",
  note={US Patent 9,643,314}
}

@inproceedings{jadbabaie2002globally,
  title={A globally stabilizing receding horizon controller for neutrally stable linear systems with input constraints},
  author={Jadbabaie, Ali and De Persis, Claudio and Yoon, Tae-Woong},
  booktitle={Proceedings of the 41st IEEE Conference on Decision and Control, 2002.},
  volume={1},
  pages={1096--1100},
  year={2002},
  organization={IEEE}
}

@misc{stolka2016system,
  title={System and method for fused image based navigation with late marker placement},
  author={Stolka, Philipp Jakob and Basafa, Ehsan and Foroughi, Pezhman and Hager, Gregory Donald and Boctor, Emad Mikhail},
  year={2016},
  month=sep # "~6",
  note={US Patent 9,436,993}
}

@article{hager2016toward,
  title={Toward a Science of Autonomy for Physical Science: Healthcare},
  author={Hager, Gregory and Horvitz, Eric},
  journal={arXiv preprint arXiv:1609.05813},
  year={2016}
}

@inproceedings{tasdizen2005mri,
  title={MRI tissue classification with neighborhood statistics: A nonparametric, entropy-minimizing approach},
  author={Tasdizen, Tolga and Awate, Suyash P and Whitaker, Ross T and Foster, Norman L},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={517--525},
  year={2005},
  organization={Springer, Berlin, Heidelberg}
}

@misc{taylor2019programmable,
  title={Programmable multispectral illumination system for surgery and visualization of light-sensitive tissues},
  author={Taylor, Russell H and Billings, Seth D and Gehlbach, Peter L and Hager, Gregory D and Handa, James T and Kang, Jin U and Vagvolgyi, Balazs P and Sznitman, Raphael and Pezzementi, Zachary},
  year={2019},
  month=jan # "~29",
  note={US Patent 10,188,281}
}

@inproceedings{tsakalis1994set,
  title={Set-membership estimation for weakly nonlinear models: An application to the adaptive control of semiconductor manufacturing processes},
  author={Tsakalis, Kostas S and Song, Lijuan},
  booktitle={Proceedings of 1994 33rd IEEE Conference on Decision and Control},
  volume={2},
  pages={1066--1071},
  year={1994},
  organization={IEEE}
}

@inproceedings{guruprasad2012distributed,
  title={Distributed Voronoi partitioning for multi-robot systems with limited range sensors},
  author={Guruprasad, KR and Dasgupta, Prithviraj},
  booktitle={2012 IEEE/RSJ international conference on intelligent robots and systems},
  pages={3546--3552},
  year={2012},
  organization={IEEE}
}

@inproceedings{li2016incremental,
  title={Incremental scene understanding on dense SLAM},
  author={Li, Chi and Xiao, Han and Tateno, Keisuke and Tombari, Federico and Navab, Nassir and Hager, Gregory D},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={574--581},
  year={2016},
  organization={IEEE}
}

@inproceedings{billings2016anatomically,
  title={Anatomically constrained video-CT registration via the V-IMLOP algorithm},
  author={Billings, Seth D and Sinha, Ayushi and Reiter, Austin and Leonard, Simon and Ishii, Masaru and Hager, Gregory D and Taylor, Russell H},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={133--141},
  year={2016},
  organization={Springer, Cham}
}

@article{vedula2016perspectives,
  title={Perspectives on surgical data science},
  author={Vedula, S Swaroop and Ishii, Masaru and Hager, Gregory D},
  journal={arXiv preprint arXiv:1610.04276},
  year={2016}
}

@inproceedings{lea2017temporal,
  title={Temporal convolutional networks for action segmentation and detection},
  author={Lea, Colin and Flynn, Michael D and Vidal, Rene and Reiter, Austin and Hager, Gregory D},
  booktitle={proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
  pages={156--165},
  year={2017}
}

@inproceedings{reitertemporal,
  title={Temporal Convolutional Networks: A Unified Approach to Action Segmentation},
  booktitle={ECCV Workshops},
  author={Lea, Colin and Vidal, Ren{'e} and Reiter, Austin and Hager, Gregory D},
  year={2016}
}

@inproceedings{paxton2017costar,
  title={Costar: Instructing collaborative robots with behavior trees and vision},
  author={Paxton, Chris and Hundt, Andrew and Jonathan, Felix and Guerin, Kelleher and Hager, Gregory D},
  booktitle={2017 IEEE international conference on robotics and automation (ICRA)},
  pages={564--571},
  year={2017},
  organization={IEEE}
}

@inproceedings{paxton2016want,
  title={Do what i want, not what i did: Imitation of skills by planning sequences of actions},
  author={Paxton, Chris and Jonathan, Felix and Kobilarov, Marin and Hager, Gregory D},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3778--3785},
  year={2016},
  organization={IEEE}
}

@inproceedings{rupprecht2017learning,
  title={Learning in an uncertain world: Representing ambiguity through multiple hypotheses},
  author={Rupprecht, Christian and Laina, Iro and DiPietro, Robert and Baust, Maximilian and Tombari, Federico and Navab, Nassir and Hager, Gregory D},
  booktitle={Proceedings of the IEEE International Conference on Computer Vision},
  pages={3591--3600},
  year={2017}
}

@inproceedings{ourselin2016erratum,
  title={Erratum to: Medical Image Computing and Computer-Assisted Intervention--MICCAI 2016},
  author={Ourselin, Sebastien and Joskowicz, Leo and Sabuncu, Mert R and Unal, Gozde and Wells, William},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={E1--E1},
  year={2016},
  organization={Springer, Cham}
}

@inproceedings{li2017deep,
  title={Deep supervision with shape concepts for occlusion-aware 3d object parsing},
  author={Li, Chi and Zeeshan Zia, M and Tran, Quoc-Huy and Yu, Xiang and Hager, Gregory D and Chandraker, Manmohan},
  booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
  pages={5465--5474},
  year={2017}
}

@inproceedings{grinzato1995proceedings,
  title={Proceedings of SPIE-The International Society for Optical Engineering},
  author={Grinzato, Ermanno G and Vavilov, Vladimir Platonovich and Bison, Paolo G and Marinetti, S and Bressan, Chiara},
  booktitle={Thermosense XVII: An International Conference on Thermal Sensing and Imaging Diagnostic Applications},
  year={1995}
}

@article{ahmidi2017dataset,
  title={A dataset and benchmarks for segmentation and recognition of gestures in robotic surgery},
  author={Ahmidi, Narges and Tao, Lingling and Sefati, Shahin and Gao, Yixin and Lea, Colin and Haro, Benjamin Bejar and Zappella, Luca and Khudanpur, Sanjeev and Vidal, Ren{'e} and Hager, Gregory D},
  journal={IEEE Transactions on Biomedical Engineering},
  volume={64},
  number={9},
  pages={2025--2041},
  year={2017},
  publisher={IEEE}
}

@article{vidalefficient,
  title={Efficient Segmental Inference for Spatiotemporal Modeling of Fine-grained Actions},
  author={Lea, Colin and Reiter, Austin and Vidal, Ren{'e} and Hager, Gregory D}
}

@article{maier2017surgical,
  title={Surgical data science: enabling next-generation surgery},
  author={Maier-Hein, Lena and Vedula, Swaroop and Speidel, Stefanie and Navab, Nassir and Kikinis, Ron and Park, Adrian and Eisenmann, Matthias and Feussner, Hubertus and Forestier, Germain and Giannarou, Stamatia and others},
  journal={arXiv preprint arXiv:1701.06482},
  year={2017}
}

@inproceedings{wang2017regularizing,
  title={Regularizing face verification nets for pain intensity regression},
  author={Wang, Feng and Xiang, Xiang and Liu, Chang and Tran, Trac D and Reiter, Austin and Hager, Gregory D and Quon, Harry and Cheng, Jian and Yuille, Alan L},
  booktitle={2017 IEEE International Conference on Image Processing (ICIP)},
  pages={1087--1091},
  year={2017},
  organization={IEEE}
}

@inproceedings{sinha2017simultaneous,
  title={Simultaneous segmentation and correspondence improvement using statistical modes},
  author={Sinha, Ayushi and Reiter, Austin and Leonard, Simon and Ishii, Masaru and Hager, Gregory D and Taylor, Russell H},
  booktitle={Medical Imaging 2017: Image Processing},
  volume={10133},
  pages={101331B},
  year={2017},
  organization={International Society for Optics and Photonics}
}

@article{paxton2017user,
  title={User experience of the CoSTAR system for instruction of collaborative robots},
  author={Paxton, Chris and Jonathan, Felix and Hundt, Andrew and Mutlu, Bilge and Hager, Gregory D},
  journal={arXiv preprint arXiv:1703.07890},
  year={2017}
}

@inproceedings{paxton2017combining,
  title={Combining neural networks and tree search for task and motion planning in challenging environments},
  author={Paxton, Chris and Raman, Vasumathi and Hager, Gregory D and Kobilarov, Marin},
  booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={6059--6066},
  year={2017},
  organization={IEEE}
}

@article{loske2011enhanced,
  title={Enhanced shock wave-assisted transformation of Escherichia coli},
  author={Loske, Achim M and Campos-Guillen, Juan and Fern{'a}ndez, Francisco and Casta{~n}o-Tostado, Eduardo},
  journal={Ultrasound in medicine & biology},
  volume={37},
  number={3},
  pages={502--510},
  year={2011},
  publisher={Elsevier}
}

@article{vedula2017surgical,
  title={Surgical data science: the new knowledge domain},
  author={Vedula, S Swaroop and Hager, Gregory D},
  journal={Innovative surgical sciences},
  volume={2},
  number={3},
  pages={109--121},
  year={2017},
  publisher={De Gruyter}
}

@article{malpani2017real,
  title={Real-time teaching cues for automated surgical coaching},
  author={Malpani, Anand and Vedula, S Swaroop and Lin, Henry C and Hager, Gregory D and Taylor, Russell H},
  journal={arXiv preprint arXiv:1704.07436},
  year={2017}
}

@article{alur2016systems,
  title={Systems computing challenges in the internet of things},
  author={Alur, Rajeev and Berger, Emery and Drobnis, Ann W and Fix, Limor and Fu, Kevin and Hager, Gregory D and Lopresti, Daniel and Nahrstedt, Klara and Mynatt, Elizabeth and Patel, Shwetak and others},
  journal={arXiv preprint arXiv:1604.02980},
  year={2016}
}

@misc{guerin2020method,
  title={Method, device, and computer-readable medium for mobile device management of collaborative industrial robot},
  author={Guerin, Kelleher and Hager, Gregory},
  year={2020},
  month=may # "~19",
  note={US Patent 10,657,802}
}

@misc{guerin2019generation,
  title={Generation of robotic user interface responsive to connection of peripherals to robot},
  author={Guerin, Kelleher and Hager, Gregory},
  year={2019},
  month=sep # "~3",
  note={US Patent 10,399,220}
}

@article{hager1992comparing,
  title={On Comparing Statistical and Set-Based Methods},
  author={Hager, Gregory D and Engelson, Sean},
  year={1992}
}

@article{hager2020opportunities,
  title={Opportunities and Challenges for Next Generation Computing},
  author={Hager, Gregory D and Hill, Mark D and Yelick, Katherine},
  journal={arXiv preprint arXiv:2008.00023},
  year={2020}
}

@article{boules2016future,
  title={The future of computing research: industry-academic collaborations},
  author={Boules, Nady and Douglas, Khari and Feldman, Stuart and Fix, Limor and Hager, Gregory and Hailpern, Brent and Hebert, Martial and Lopresti, Dan and Mynatt, Beth and Rossbach, Chris and others},
  journal={arXiv preprint arXiv:1606.09236},
  year={2016}
}

@article{hager1996special,
  title={Special section on vision-based control of robot manipulators},
  author={Hager, GD},
  journal={IEEE Transactions on Robotics and Automation},
  volume={12},
  number={5},
  pages={649--650},
  year={1996}
}

@misc{hager2017system,
  title={System and method for detecting and tracking a curvilinear object in a three-dimensional space},
  author={Hager, Gregory D and Padoy, Nicolas},
  year={2017},
  month=may # "~16",
  note={US Patent 9,652,682}
}

@inproceedings{dodds1999hierarchical,
  title={A hierarchical vision architecture for robotic manipulation tasks},
  author={Dodds, Zachary and J{"a}gersand, Martin and Hager, Greg and Toyama, Kentaro},
  booktitle={International Conference on Computer Vision Systems},
  pages={312--330},
  year={1999},
  organization={Springer, Berlin, Heidelberg}
}

@article{ramsey2012automated,
  title={Automated Image Alignment and Segmentation to Follow Progression of Geographic Atrophy in AMD},
  author={Ramsey, David J and Sunness, Janet S and Malviya, Poorva and Hager, Gregory and Applegate, Carol and Handa, James T},
  journal={Investigative Ophthalmology & Visual Science},
  volume={53},
  number={14},
  pages={4086--4086},
  year={2012},
  publisher={The Association for Research in Vision and Ophthalmology}
}

@article{hager1997modular,
  title={A modular system for robust hand-eye coordination},
  author={Hager, Gregory D},
  journal={IEEE Trans. on Robotics and Automation},
  volume={13},
  number={4},
  pages={582--595},
  year={1997}
}

@article{mynatt2017research,
  title={Research opportunities and visions for smart and pervasive health},
  author={Mynatt, Elizabeth and Hager, Gregory D and Kumar, Santosh and Lin, Ming and Patel, Shwetak and Stankovic, Jack and Wright, Helen},
  journal={arXiv preprint arXiv:1706.09372},
  year={2017}
}

@inproceedings{cortesa2017characterizing,
  title={Characterizing spatial construction processes: Toward computational tools to understand cognition.},
  author={Cortesa, Cathryn S and Jones, Jonathan D and Hager, Gregory D and Khudanpur, Sanjeev and Shelton, Amy L and Landau, Barbara},
  booktitle={CogSci},
  year={2017}
}

@inproceedings{dewan2007image,
  title={Image-based coronary tracking and beat-to-beat motion compensation for robust coronary MR angiography},
  author={Dewan, M and Caylus, M and Pan, L and Hager, GD and Lorenz, CH},
  booktitle={Proceedings of the International Society for Magnetic Resonance in Medicine, 15th Scientific Meeting and Exhibition},
  pages={3877},
  year={2007}
}

@article{maier2017surgical,
  title={Surgical data science for next-generation interventions},
  author={Maier-Hein, Lena and Vedula, Swaroop S and Speidel, Stefanie and Navab, Nassir and Kikinis, Ron and Park, Adrian and Eisenmann, Matthias and Feussner, Hubertus and Forestier, Germain and Giannarou, Stamatia and others},
  journal={Nature Biomedical Engineering},
  volume={1},
  number={9},
  pages={691--696},
  year={2017},
  publisher={Nature Publishing Group}
}

@article{jiang2017costar,
  title={CoSTAR in Surgery: A Cross-platform User Interface for Surgical Robot Task Specification},
  author={Jiang, Baichuan and Paxton, Chris and Kazanzides, Peter and Hager, Gregory D},
  year={2017}
}

@article{jonathan2017temporal,
  title={Temporal and physical reasoning for perception-based robotic manipulation},
  author={Jonathan, Felix and Paxton, Chris and Hager, Gregory D},
  journal={arXiv preprint arXiv:1710.03948},
  year={2017}
}

@inproceedings{zhu2018adversarial,
  title={Adversarial deep structured nets for mass segmentation from mammograms},
  author={Zhu, Wentao and Xiang, Xiang and Tran, Trac D and Hager, Gregory D and Xie, Xiaohui},
  booktitle={2018 IEEE 15th international symposium on biomedical imaging (ISBI 2018)},
  pages={847--850},
  year={2018},
  organization={IEEE}
}

@inproceedings{dipietro2015automated,
  title={Automated surgical-phase recognition using rapidly-deployable sensors},
  author={DiPietro, Robert and Stauder, Ralf and Kayis, Erg{"u}n and Schneider, Armin and Kranzfelder, Michael and Feussner, Hubertus and Hager, Gregory D and Navab, Nassir},
  booktitle={Proc MICCAI Workshop M2CAI},
  year={2015}
}

@article{paxton2017learning,
  title={Learning to imagine manipulation goals for robot task planning},
  author={Paxton, Chris and Katyal, Kapil and Rupprecht, Christian and Arora, Raman and Hager, Gregory D},
  journal={arXiv preprint arXiv:1711.02783},
  year={2017}
}

@article{li2018deep,
  title={Deep supervision with intermediate concepts},
  author={Li, Chi and Zia, M Zeeshan and Tran, Quoc-Huy and Yu, Xiang and Hager, Gregory D and Chandraker, Manmohan},
  journal={IEEE transactions on pattern analysis and machine intelligence},
  volume={41},
  number={8},
  pages={1828--1843},
  year={2018},
  publisher={IEEE}
}

@article{malpani201817,
  title={17: Automated skill classification using time and motion efficiency metrics in vaginal cuff closure},
  author={Malpani, A and Martinez, N and Vedula, S and Hager, G and Chen, C},
  journal={American Journal of Obstetrics & Gynecology},
  volume={218},
  number={2},
  pages={S891--S892},
  year={2018},
  publisher={Elsevier}
}

@article{dipietro2017analyzing,
  title={Analyzing and exploiting NARX recurrent neural networks for long-term dependencies},
  author={DiPietro, Robert and Rupprecht, Christian and Navab, Nassir and Hager, Gregory D},
  journal={arXiv preprint arXiv:1702.07805},
  year={2017}
}

@article{hager1995modular,
  title={A Modular System for Robust Positioning Using},
  author={Hager, Gregory D},
  year={1995}
}

@article{hager1993some,
  title={Some problems in adaptive visual servoing},
  author={Hager, G},
  journal={DCS RR-948, Yale University, New Haven, CT},
  year={1993}
}

@article{hager1995vale,
  title={VALE UNIVERSITY DEPARTMENT OF COMPUTER SCIENCE},
  author={Hager, Gregory D},
  year={1995}
}

@inproceedings{xiang2018s3d,
  title={S3d: Stacking segmental p3d for action quality assessment},
  author={Xiang, Xiang and Tian, Ye and Reiter, Austin and Hager, Gregory D and Tran, Trac D},
  booktitle={2018 25th IEEE International Conference on Image Processing (ICIP)},
  pages={928--932},
  year={2018},
  organization={IEEE}
}

@article{katyal2018occupancy,
  title={Occupancy map prediction using generative and fully convolutional networks for vehicle navigation},
  author={Katyal, Kapil and Popek, Katie and Paxton, Chris and Moore, Joseph and Wolfe, Kevin and Burlina, Philippe and Hager, Gregory D},
  journal={arXiv preprint arXiv:1803.02007},
  year={2018}
}

@inproceedings{li2018unified,
  title={A unified framework for multi-view multi-class object pose estimation},
  author={Li, Chi and Bai, Jin and Hager, Gregory D},
  booktitle={Proceedings of the European Conference on Computer Vision (ECCV)},
  pages={254--269},
  year={2018}
}

@inproceedings{rupprecht2018guide,
  title={Guide me: Interacting with deep networks},
  author={Rupprecht, Christian and Laina, Iro and Navab, Nassir and Hager, Gregory D and Tombari, Federico},
  booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
  pages={8551--8561},
  year={2018}
}

@inproceedings{paxton2019visual,
  title={Visual robot task planning},
  author={Paxton, Chris and Barnoy, Yotam and Katyal, Kapil and Arora, Raman and Hager, Gregory D},
  booktitle={2019 international conference on robotics and automation (ICRA)},
  pages={8832--8838},
  year={2019},
  organization={IEEE}
}

@article{leonard2018evaluation,
  title={Evaluation and stability analysis of video-based navigation system for functional endoscopic sinus surgery on in vivo clinical data},
  author={Leonard, Simon and Sinha, Ayushi and Reiter, Austin and Ishii, Masaru and Gallia, Gary L and Taylor, Russell H and Hager, Gregory D},
  journal={IEEE transactions on medical imaging},
  volume={37},
  number={10},
  pages={2185--2195},
  year={2018},
  publisher={IEEE}
}

@article{maier2018surgical,
  title={Surgical data science: A consensus perspective},
  author={Maier-Hein, Lena and Eisenmann, Matthias and Feldmann, Carolin and Feussner, Hubertus and Forestier, Germain and Giannarou, Stamatia and Gibaud, Bernard and Hager, Gregory D and Hashizume, Makoto and Katic, Darko and others},
  journal={arXiv preprint arXiv:1806.03184},
  year={2018}
}

@inproceedings{sinha2018endoscopic,
  title={Endoscopic navigation in the absence of CT imaging},
  author={Sinha, Ayushi and Liu, Xingtong and Reiter, Austin and Ishii, Masaru and Hager, Gregory D and Taylor, Russell H},
  booktitle={International Conference on Medical Image Computing and Computer-Assisted Intervention},
  pages={64--71},
  year={2018},
  organization={Springer, Cham}
}

@inproceedings{dipietro2018unsupervised,
  title={Unsupervised learning for surgical motion by learning to predict the future},
  author={DiPietro, Robert and Hager, Gregory D},
  booktitle={International conference on medical image computing and computer-assisted intervention},
  pages={281--288},
  year={2018},
  organization={Springer, Cham}
}

@misc{stolka2018system,
  title={System and method for fused image based navigation with late marker placement},
  author={Stolka, Philipp J and Basafa, Ehsan and Foroughi, Pezhman and Hager, Gregory D and Boctor, Emad M},
  year={2018},
  month=may # "~22",
  note={US Patent 9,978,141}
}

@misc{stolka2017surgical,
  title={Surgical needle for a surgical system with optical recognition},
  author={Stolka, Philipp Jakob and Foroughi, Pezhman and Rendina, Matthew C and Hager, Gregory Donald and Boctor, Emad Mikhail},
  year={2017},
  month=jun # "~6",
  note={US Patent 9,668,819}
}

@misc{guerin2019robot,
  title={Robot control, training and collaboration in an immersive virtual reality environment},
  author={Guerin, Kelleher and Hager, Gregory D},
  year={2019},
  month=jul # "~16",
  note={US Patent 10,350,751}
}

@article{kumar2018predicting,
  title={Predicting Multiple Actions for Stochastic Continuous Control},
  author={Kumar, Sanjeev and Rupprecht, Christian and Tombari, Federico and Hager, Gregory D},
  year={2018}
}

@incollection{liu2018self,
  title={Self-supervised learning for dense depth estimation in monocular endoscopy},
  author={Liu, Xingtong and Sinha, Ayushi and Unberath, Mathias and Ishii, Masaru and Hager, Gregory D and Taylor, Russell H and Reiter, Austin},
  booktitle={OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis},
  pages={128--138},
  year={2018},
  publisher={Springer, Cham}
}

@article{sin

license: MIT

license_type: permissive

branch_name: refs/heads/master

extension: bib