The present invention provides an ultrasound imaging system for forming 3D volume data of a target object, including a three-dimensional (3D) image providing unit for providing a 3D ultrasound image a pre-processing unit for forming a number of two-dimensional (2D) images from the 3D ultrasound image and normalizing the 2D images to form normalized 2D images an edge extraction unit for forming wavelet-transformed images of the normalized 2D images at a number of scales, the edge extraction unit further being configured to form edge images by averaging the wavelet-transformed images at a number of scales and threshold the edge images a control point determining unit for determining control points by using a support vector machine (SVM) based on the normalized 2D images, the wavelet-transformed images and the thresholded edge images and a rendering unit for forming 3D volume data of the target object by 3D rendering based on the control points.
