The ground-state parameters of the two-dimensional $S=1/2$ antiferromagnetic Heisenberg model are calculated using the stochastic series expansion quantum Monte Carlo method for $L\ifmmode\times\else\texttimes\fi{}L$ lattices with $L$ up to $16$. The finite-size results for the energy $E$, the sublattice magnetization $M$, the long-wavelength susceptibility ${\ensuremath{\chi}}_{\ensuremath{\perp}}(q=2\ensuremath{\pi}/L)$, and the spin stiffness ${\ensuremath{\rho}}_{s},$ are extrapolated to the thermodynamic limit using fits to polynomials in $1/L$, constrained by scaling forms previously obtained from renormalization-group calculations for the nonlinear $\ensuremath{\sigma}$ model and chiral perturbation theory. The results are fully consistent with the predicted leading finite-size corrections, and are of sufficient accuracy for extracting also subleading terms. The subleading energy correction $(\ensuremath{\sim}{1/L}^{4})$ agrees with chiral perturbation theory to within a statistical error of a few percent, thus providing numerical confirmation of the finite-size scaling forms to this order. The extrapolated ground- state energy per spin is $E=\ensuremath{-}0.669437(5)$. The result from previous Green's function Monte Carlo (GFMC) calculations is slightly higher than this value, most likely due to a small systematic error originating from ``population control'' bias in GFMC. The other extrapolated parameters are $M=0.3070(3)$, ${\ensuremath{\rho}}_{s}=0.175(2)$, ${\ensuremath{\chi}}_{\ensuremath{\perp}}=0.0625(9)$, and the spin-wave velocity $c=1.673(7)$. The statistical errors are comparable with those of previous estimates obtained by fitting loop algorithm quantum Monte Carlo data to finite-temperature scaling forms. Both $M$ and ${\ensuremath{\rho}}_{s}$ obtained from the finite-$T$ data are, however, a few error bars higher than the present estimates. It is argued that the $T=0$ extrapolations performed here are less sensitive to effects of neglected higher-order corrections, and therefore should be more reliable.
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