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We describe an improved two-dimensional optical scanning technique combined with an ultrafast Sagnac interferometer for delayed-probe imaging of surface wave propagation. We demonstrate the operation of this system, which involves the use of a single focusing objective, by monitoring surface acoustic wave propagation on opaque substrates with picosecond temporal and micron lateral resolutions. An improvement in the lateral resolution by a factor of 3 is achieved in comparison with previous setups for similar samples.