A multiresolutional filter called a critical point filter is introduced. This filter extracts a maximum, a minimum, and two types of saddle points of pixel intensity for every 2null2 (horizontalnullvertical) pixels so that an image of a lower level of resolution is newly generated for every type of a critical point. Using this multiresolutional filter, a source image and a destination image are hierarchized, and source hierarchical images and destination hierarchical images are matched using image characteristics recognized through a filtering operation.