System and method for robotic inspection

An inspection system, comprising:

• a ground penetrating radar (GPR) sensor configured to provide at least one probe signal to a portion of a structure and to receive at least one return signal resulting from the corresponding at least one probe signal;
• and
• a processor in electronic communication with the GPR sensor, wherein the processor is programmed to:
• receive the at least one return signal and combine two or more return signals as scan data from the GPR sensor;
• generate maximum amplitude trace normalized data based on the scan data;
• generate temporal signal gain data based on the scan data;
• generate a power spectral density image for each of the scan data, the maximum amplitude trace normalized data, and the temporal signal gain data;
• and
• analyze, using a machine learning processor, the power spectral density images to identify an anomaly of interest, wherein the machine learning processor is trained to detect an anomaly of interest based on a training set of power spectral density images;
• and
• generate a map based on the identified anomaly of interest.