The ultrasonic guided wave is widely used for structure health monitoring with the sparse piezoelectric actuator/transducer array in recent decades. It is based on the principle that the damage in the structure would reflect or scatter the wave pulse and thus, the damage-scattered signal could be applied as the feature signal to distinguish the damage. Precise measurement of time of the flight (TOF) of the propagating signal plays a pivotal role in structure damage localization. In this paper, a time-frequency analysis method, Wigner-Ville Distribution (WVD), is applied to calculate the TOF of signal based on its excellent time-frequency energy distribution property. The true energy distribution in the time-frequency domain is beneficial to reliably locate the position of damage. Experimental studies are demonstrated for damage localization of one-dimensional and two-dimensional structures. In comparison with traditional Hilbert envelope and Gabor wavelet transform methods, the proposed WVD-based method has better performance on the accuracy and the stability of damage localization in one-dimensional structure. In addition, the proposed scheme is validated to work effectively for damage imaging of a two-dimensional structure. (C) 2013 Elsevier B.V. All rights reserved.