The adaptive system and method for ultrasound sensing comprises re-evaluating over time the detection threshold for predetermined sensing positions along the scanning direction to cope for the static target and environment changes at the sensing positions. The method includes comparing the measured echo value at each sensing position to a reference echo value corresponding to the same sensing position, and to iteratively determine a new reference value whenever the echo value is greater than the reference echo value and that the difference between the measured echo value and the reference echo value is lower than a detection assurance factor. The use of the adaptive ultrasound sensing system and method allows locating the sensor at different location without requiring a new calibration thereof, since the sensor learns the clutter dynamically and the detection thresholds are being built accordingly without being dependent on the environment in which the sensor is located.