Combined frequency and angle compounding for speckle reduction in ultrasound imaging

This disclosure relates to combined frequency and angle compounding for speckle reduction in ultrasound imaging. Such combined frequency and angle compounding can result in a multiplicative speckle reduction compared to using either frequency compounding or angle compounding alone. Compounding methods of this disclosure can make use of the full aperture of the ultrasound probe when acquiring individual images, hence there can be no compromise in resolution. In disclosed embodiments, ultrasound images can be obtained while an ultrasound probe is moving and the relative position and orientation of the ultrasound images can be determined from a measurement of the position and orientation of the ultrasound probe. Certain embodiments can correct for the movement and distortion of an object being imaged during the image acquisition.