Computer program product comprising instructions which when executed on a processor are configured to cause the processor to carry out an ultrasound image compounding method for use with an Intra Cardiac Echography catheter including a first ultrasound transceiver array (210 1) and a second ultrasound transceiver array (210 2) in which the first ultrasound transceiver array (210 1) and the second ultrasound transceiver array (210 2) are axially separated along a length axis of the ICE catheter such that the first ultrasound transceiver array (210 1) and the second ultrasound transceiver array (210 2) have a mutual spatial arrangement; the method comprising the steps of: receiving, from the first ultrasound transceiver array (210 1), first array data corresponding to ultrasound signals detected by the first ultrasound transducer array (210 1) in response to an insonification of a region of interest by the first ultrasound transducer array (210 1) at a first insonification angle (θ 1); receiving, from the second ultrasound transceiver array (210 2), second array data corresponding to ultrasound signals detected by the second ultrasound transducer array (210 2) in response to an insonification of the region of interest by the second ultrasound transducer array (210 2) at a second insonification angle (θ 2), different from the first insonification angle; generating, based on the first array data and the second array data and the mutual spatial arrangement, a compound image corresponding to the region of interest; the method further comprising the steps of: receiving, from the first ultrasound transceiver array (210 1), first array tracking data corresponding to ultrasound signals detected by the first ultrasound transducer array (210 1) in response to ultrasound signals emitted by the second ultrasound transducer array (210 2); or receiving, from the second ultrasound transceiver array (210 2), second array tracking data corresponding to ultrasound signals detected by the second ultrasound transducer array (210 2) in response to ultrasound signals emitted by the first ultrasound transducer array (210 1); and determining the mutual spatial arrangement based on the first array tracking data or the second array tracking data correspondingly. receiving, from the first ultrasound transceiver array (210 1), first array data corresponding to ultrasound signals detected by the first ultrasound transducer array (210 1) in response to an insonification of a region of interest by the first ultrasound transducer array (210 1) at a first insonification angle (θ 1); receiving, from the second ultrasound transceiver array (210 2), second array data corresponding to ultrasound signals detected by the second ultrasound transducer array (210 2) in response to an insonification of the region of interest by the second ultrasound transducer array (210 2) at a second insonification angle (θ 2), different from the first insonification angle; generating, based on the first array data and the second array data and the mutual spatial arrangement, a compound image corresponding to the region of interest; the method further comprising the steps of: receiving, from the first ultrasound transceiver array (210 1), first array tracking data corresponding to ultrasound signals detected by the first ultrasound transducer array (210 1) in response to ultrasound signals emitted by the second ultrasound transducer array (210 2); or receiving, from the second ultrasound transceiver array (210 2), second array tracking data corresponding to ultrasound signals detected by the second ultrasound transducer array (210 2) in response to ultrasound signals emitted by the first ultrasound transducer array (210 1); and determining the mutual spatial arrangement based on the first array tracking data or the second array tracking data correspondingly. receiving, from the first ultrasound transceiver array (210 1), first array tracking data corresponding to ultrasound signals detected by the first ultrasound transducer array (210 1) in response to ultrasound signals emitted by the second ultrasound transducer array (210 2); or receiving, from the second ultrasound transceiver array (210 2), second array tracking data corresponding to ultrasound signals detected by the second ultrasound transducer array (210 2) in response to ultrasound signals emitted by the first ultrasound transducer array (210 1); and determining the mutual spatial arrangement based on the first array tracking data or the second array tracking data correspondingly.