Traditional Lamb wave inspection and imaging methods heavily rely on prior knowledge of dispersion curves and baseline recordings, which may not be feasible in the majority of real cases due to production uncertainties and environmental variations. In order to solve this problem, a two-step Lamb wave strategy utilizing adaptive multiple signal classification (MUSIC) and sparse reconstruction of dispersion reconstruction is proposed. The multimodal Lamb waves are initially reconstructed in the f-k domain using random measurements, allowing for the identification and characterization of multimodal Lamb waves. Then, using local polynomial expansion and derivation, the phase and group velocities for each Lamb wave mode could be computed. Thus, the steering vectors of all potential scattering Lamb waves for each grid in the scanning area can be established, thereby allowing for the formulation of the MUSIC algorithm. To increase the precision and adaptability of the MUSIC method, the local wave components resulting from potential scatters are extracted with an adaptive window, which is governed by the group velocities and distances of Lamb wave propagation. As a result, the reconstructed dispersion relations and windowed wave components can be used to highlight the scattering features. For the method investigation, both a simulation and experiment are carried out, and both the dispersion curves and damage locations can be detected. The results demonstrate that damage localization is possible without theoretical dispersion data and baseline recordings while exhibiting a considerable accuracy and resolution.