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Usual approaches to localization, i.e., joint estimation of position, orientation and scale of a bidimensional pattern employ suboptimum techniques based on invariant signatures, which allow for position estimation independent of scale and orientation. In this paper a Maximum Likelihood method for pattern localization working in the Gauss-Laguerre Transform (GLT) domain is presented. The GLT is based on an orthogonal family of Circular Harmonic Functions with specific radial profiles, which permits optimum joint estimation of position and scale/rotation parameters looking at the maxima of a "Gauss-Laguerre Likelihood Map." The Fisher information matrix for any given pattern is given and the theoretical asymptotic accuracy of the parameter estimates is calculated through the Cramer Rao Lower Bound. Application of the ML estimation method is discussed and an example is provided.