Digital watermarking has been proposed for the copyright protections of multimedia products. In this paper, a robust and blind watermarking scheme is presented. The concept of communication with side information is applied at the encoder to improve the probability of detection within acceptable fidelity, while the template matching technique is employed to estimate the undergone attacks in attacking channel. This scheme is optimized by the optimal design of the encoder to match with the media content and the decoder to adapt to the attack channel state. Experiments show that our method is robust against some common attacks such as filtering, compression, rotation, scaling, cropping and translation. It can be applied to both color and gray images.