A 3-D medical diagnostic ultrasonic imaging system corrects the elevational position of individual pixels based on the elevational motion of the transducer probe and the azimuthal position of individual pixels. In this way, the correct spatial position and orientation of multi-frame, sequentially required images is obtained, and 3-D volume reconstruction is made more accurate. Optionally, the acquired images and the measure of transducer in-plane translation and rotation are also corrected for azimuthal motion of the transducer.