Target shape estimation with UWB pulse radars is a promising imaging technique for household robots. We have already proposed a fast imaging algorithm, SEABED, that is based on a reversible transform BST (Boundary Scattering Transform) between the received signals and the target shape. However, the target image obtained by SEABED deteriorates in a noisy environment because it utilizes a derivative of received data. In this paper, we propose a robust imaging method with an envelope of circles. We clarify by numerical simulation that the proposed method can realize a level of robust and fast imaging that cannot be achieved by the original SEABED.