Precision of acoustic 3D mapping?

[kalel]

I'm just wondering about the precision/accuracy possible with sound mapping by itself.
From what I understand, every possible sensor is used for 3D mapping, with more types being combined to achieve greater accuracy.

However, I'm curious about how well we can scan the environment using sound. This is just a theoretical question about current technology or easily predictable near future possibilities, and I'm not asking specifically about cheap or even consumer solutions necessarily.

By sound I'm of course not limiting to the audible range. I understand that ultrasonic frequencies are most commonly used.

[strangersound]

"down to the millimeter"

re: http://techland.time.com/2013/06/19/we-can-now-map-rooms-down-to-the-millimeter-with-a-finger-snap/ (2013)

Multiple scholarly articles at Google search: https://www.google.com/search?pws=0&q=Precision+of+acoustic+3D+mapping