Acoustic imaging waveforms are measured utilizing a downhole acoustic tool within a wellbore, and then aligned relative to a main echo of each waveform. The aligned waveforms are then subjected to a first low-pass filter. Residuals are extracted by determining differences between the aligned waveforms and the filtered waveforms. The residuals are aligned to corresponding acoustic firing pulses of the downhole acoustic tool. The aligned residuals are subjected to a second low-pass filter. The measured waveforms are aligned to the corresponding acoustic firing pulses. Noise associated with the downhole acoustic tool is removed from the pulse-aligned, measured waveforms utilizing the filtered residuals.