The way I do it is:
I use the textpos package:
\usepackage[absolute,overlay]{textpos}
Then I create a pgf image:
\pgfdeclareimage[width=.4in]{fg:logo}{figures/logo}
Then I just use the textblock command to place the logo where I want
on the title page:
\begin{frame}
\titlepage
\begin{textblock*}{\textwidth}(.25in,2in)
\pgfuseimage{fg:logo}
\end{textblock*}
\end{frame}