Shear wave imaging techniques build maps of local elasticity estimating the local group velocity of induced mechanical waves. Velocity estimates are formed using the time delay in the motion profile of the medium at two or more points offset from the shear wave source. Because the absolute time-of-flight between any pair of locations scales with the distance between them, there is an inherent trade-off between robustness to time-of-flight errors and lateral spatial resolution based on the number and spacing of the receive points used for each estimate. This work proposes a method of using the time delays measured between all combinations of locations to estimate a noise-robust, high-resolution image. The time-of-flight problem is presented as an overdetermined system of linear equations that can be directly solved with and without spatial regularization terms. Finite element method simulations of acoustic radiation force-induced shear waves are used to illustrate the method, demonstrating superior contrast-to-noise ratio and lateral edge resolution characteristics compared with linear regression of arrival times. This technique may improve shear wave imaging in situations where time-of-flight noise is a limiting factor.