Disclosed is a method for estimating a geometry of a borehole penetrating the earth. The method includes: performing a plurality of borehole caliper measurements with N transducers at a plurality of times, wherein for each time a measurement set comprises measurements made by the N transducers at that time; dividing a cross-section of the borehole into S sectors; obtaining an estimate of the borehole geometry by connecting representative radius points in adjacent sectors; displacing each measurement set according to a displacement vector related to an offset of each measurement set from the estimated geometry if the displacement vector exceeds a selection criterion; iterating the obtaining an estimate of the borehole geometry and the displacing each measurement set based on a latest displacement vector; and providing a latest obtained estimate as the geometry of the borehole when all of the displacement vectors no longer exceed the selection criterion for the displacing.