1. A method of matching Images A and B of the same scene taken at different locations in the scene, comprising: creating a resolution pyramids for Image A and Image B; selecting a plurality of correspondence points in Image A; for each correspondence point, at each of a plurality of levels in the resolution pyramid, creating a constellation of multiple image chips in a pre-defined spatial arrangement around the correspondence point in Image A, each chip comprising a pre-defined spatial configuration of multiple pixels, at least one said chip including the correspondence point; and computing a joint likelihood map (JLM) between the constellation in image A and possible constellations in Image B as a function of the displacement of the constellation of image chips in Image B from the same or different level, each likelihood value in the map representing the likelihood that the correspondence point in A is located at the position specified by the displacement value in Image B; computing an aggregate joint likelihood map by integrating the likelihood maps over the plurality levels; and selecting the constellation displacements from the aggregate joint likelihood maps with the highest likelihood value to identify correspondence points in Image B for the correspondence points in Image A.