A subset of 51 Hipparcos astrometric binaries among FG dwarfs within 67 pc has been surveyed with the Near-Infrared Coronagraphic Imager adaptive optics system at Gemini-S, directly resolving for the first time 17 subarcsecond companions and 7 wider ones. Using these data together with published speckle interferometry of 57 stars, we compare the statistics of resolved astrometric companions with those of a simulated binary population. The fraction of resolved companions is slightly lower than expected from binary statistics. About 10% of astrometric companions could be" dark"(white dwarfs and close pairs of late M-dwarfs). To our surprise, several binaries are found with companions too wide to explain the acceleration. Re-analysis of selected intermediate astrometric data shows that some acceleration solutions in the original Hipparcos catalog are spurious.