Abstract: An acoustic imaging tool, logging system and method are disclosed for producing high-resolution three-dimensional images. The imaging tool may include three separate arrangements of acoustic transducers: a circumferential set for wall inspection, internal transducers for fluid characterization within a chamber open to wellbore fluid, and forward-looking transducers located at the bottom end of the tool. Forward-looking transducers emit ultrasonic waves and receive reflections back when solid features are located under the tool. In some embodiments, Doppler effect calculations may be performed to produce forward-looking acoustic images. In other embodiments, an ambient acoustic energy illuminates the wellbore, and an acoustic lens set focuses reflected ultrasonic waves onto an acoustic imaging array of an ultrasonic camera.