Abstract: A method of reconstructing the volume of an object from a sequence of section images, the images corresponding to different positions and/or orientations of an acquisition plane and being subject to uncertainties, the method comprising: a) selecting a finite base of functions on which the volume for reconstruction can be decomposed; b) selecting a first quantification function for quantizing the difference between the real position and/or orientation of each section relative to said object and its nominal position and/or orientation; c) selecting a second quantification function for quantizing the spatial coherence of the reconstructed volume; d) selecting a third quantification function for quantizing the difference between the section images of the object and the corresponding sections of the reconstructed volume; e) selecting an overall cost function, of value that depends on the values of said first, second, and third quantizing functions; and f) jointly estimating the real positions and/or orientation