System and Method for Robotic Inspection

An inspection system includes 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. A processor is programmed to: receive the at least one return signal 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.