Fig. 1. Confidence map of original BBS algorithm. (a) Real BBS score by calculation; (b) final confidence map obtained by bilinear interpolation

Fig. 2. Bilinear interpolation leads to multiple maxima. (a) Template image marked in rectangle; (b) target image; (c) confidence map of BBS; (d) enlarged view of rectangular area in figure (c)

Fig. 3. Rearranged subblocks

Fig. 4. Confidence map of target precise positioning. (a) Confidence map of original BBS; (b) possible location of the target; (c) BBS score of recalculated possible location; (d) enlarged view of rectangular area in figure (c)

Fig. 5. Flow chart of algorithm

Fig. 6. Success rate of different algorithms

Fig. 7. Matching results of two algorithms. (a) Template images; (b) matching results