In this study, a noncontact NDT method is implemented to detect the damage of pipeline structures and to identify the location of the damage. To achieve this foal, an Nd:YAG pulsd laser system is used to generate guided waves and a galvanometer-based laser scanner scans a specific area to find damage location. Then, a piezoelectric sensor is installed to measure structural responses. The measured time and spatial responses are transformed to data in frequency and wavenumber domain through 3-dimensional Fourier transform. Finally, damages can be detected by extracting reflected signals due to damage using wavenumber filter which eliminated strong incident waves.