A method of processing ultrasound data includes receiving ultrasound data for a first ultrasound image, the first ultrasound image being represented as a first set of discrete pixels corresponding to positions of a region of interest; receiving ultrasound data for a second ultrasound image, the second ultrasound image being represented as a second set of discrete pixels corresponding to positions of the region of interest; generating a displacement map by minimizing a cost function using a dynamic programming procedure that identifies each of the first set of discrete pixels with a corresponding one of the second set of discrete pixels; refining the displacement map to obtain intermediate displacement values corresponding to positions between the discrete pixels based on minimizing a local approximation to the cost function; and calculating a physical property of the region of interest based on the displacement map.