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The problem, as you have stated it, is one of the largest, most active areas of research in computer vision. OpenCV provides the cascade classifier. There's a tutorial HERE.
There are other options, like keypoint matching, but as you said, not quite what you're looking for.
Something interesting I found recently is THIS, which looks like it might actually work pretty well. Unfortunately, the OpenCV Implementation link is a lie, so you'd have to do the Matlab -> OpenCV conversion yourself.
