An initial search method uses the input image and the template to create an initial search result output. A high precision match uses the initial search result, the input image, and the template to create a high precision match result output. The high precision match method estimates high precision parameters by image interpolation and interpolation parameter optimization. The method also performs robust matching by limiting pixel contribution or pixel weighting. An invariant high precision match method estimates subpixel position and subsampling scale and rotation parameters by image interpolation and interpolation parameter optimization on the log-converted radial-angular transformation domain.