Guided wave structural health monitoring (GWSHM) systems, using the delay-and-sum imaging algorithm, are an efficient solution to detect and localise defects in industrial structures. However, the image artifacts caused by either imperfect detection or sensor lay-out limitations make it difficult to identify and locate defects accurately. In order to enhance the performance of defect detection and localisation in GWSHM systems, this paper proposes a three-step procedure for post-processing guided wave signals prior to image formation. In the first step, the signals are processed using the nonlinear autoregressive exogenous model to suppress noise from benign features. The second step calculates the probability of defect presence based on the rescaled Gamma cumulative distribution function. This probabilistic threshold is then determined from the quantile mapping. Finally, a guide wave image is formed using the delay-and-sum imaging algorithm. The experimental validation was performed to inspect a 6 mm-diameter through-thickness circular hole on an aluminium plate and the defects were further scaled as simulated datasets to test its detectability under various amplitudes. In the second procedure step, the detection and localisation performance of the proposed procedure was compared with that of using the signal difference coefficient and the Rayleigh maximum likelihood estimator. It is shown that the proposed procedure can enhance the contrast between damaged and undamaged regions, providing more reliable and accurate guided wave images.