A framework for disigning robust registration algorithms is proposed. Robust image registration is demanded in environment of ill-conditions occured in the real world. Coding is a major mechanism for their purposes and the robust registration methods are designed through the following four phases: positional combination, code generation from brightness difference, definition of similarity or dissimilarity, and statistical modelling or analysis. Reformalization of increment sign correlation (ISC) and orientaion code matching (OCM) are described in this view point. And then the application of ISC to borehole measurement is presented as the one of the real world tasks.