A method of mapping tissue includes sensing a first region and a second region of a chamber of body tissue. The sensing includes moving an ultrasound transducer of a catheter over a surface of the region along a sensing pattern, and using the ultrasound transducer to gather a set of echo-anatomical data in an amplitude mode at a plurality of points along the sensing pattern. The set of echo-anatomical data comprises distances between the ultrasound transducer and the surface at the plurality of points. A three-dimensional surface map is generated using the set of echo-anatomical data from each region. The surface maps of the regions are combined to form a combined surface map. Methods also include using a set of echo-anatomical data to generate a three-dimensional surface map of a region, from a detected border of the body tissue and detected motion phases of the region.