Contact inspections are commonly performed in industry to check for defects and degradation, such as corrosion or cracks. Non-destructive evaluation (NDE) probes are being deployed with increasing frequency using autonomous robots, especially in harsh environments or in areas where access is restricted and difficult. Together with the NDE measurement, it is important to capture the 3D position of the probe so that the location where the data originated is known. This allows for the generation of 3D maps of the inspection, which ensure full scan coverage, and can be used for inspection reports and to generate digital twins of the structure for asset management. In this paper, a full inspection system integrating a robot mountable stereo camera system together with an electromagnetic acoustic transducer (EMAT) probe and a wireless NDE data acquisition system is presented. The system is capable of capturing and merging 3D positional data of the probe as it is scanned and NDE data. The system design in terms of hardware and software is described in this paper. A set of tests to evaluate its performance on relevant structural components are also presented, and the results are reported and discussed.