A method for reconstructing geometry of an object surface via echographic probing, using an ultrasound probe including plural transducers, the method including: controlling the transducers to transmit towards the surface ultrasound waves having initial transmission delays between them executing at least once a cycle of operations including receiving from the transducers intermediate measurement signals, correcting transmission delays of the transducers using intermediate measurement signals, and controlling the transducers to transmit towards the surface ultrasound waves having the corrected transmission delays receiving from the transducers final measurement signals resulting from reflection of a wavefront received simultaneously on the surface determining specular travel times between each transducer and the surface based on the final measurement signals and the corrected transmission delays and perform geometric reconstitution of the surface based on the determined specular travel times.
