Time of flight estimation method using beamforming for acoustic tomography

It is disclosed an acoustic tomography method to improve the time of flight estimation, said method comprising the steps of: sequentially triggering a set of N transmitters so as to generate a sequence of N acoustic waves through a volume being scanned; receiving each of said acoustic waves after transmission through said volume with a set of M receivers, which are called received signals; delaying by varying delays the N different said received signals that each receiver receives from the N different transmitters, and adding them together to form a new received signal, which is called transmit-beamformed signal for that receiver; delaying by varying delays the M different said transmit-beamformed signals for each receiver and adding them together at each receiver to form a new signal, which we call transmit-receive-beamformed signal.