The amount and variety of composite structures that need to be inspected for the presence of impact damage has grown significantly in the last few decades. In this paper, an application of a probabilistic ultrasonic guided wave imaging technique for impact damage detection in carbon fiber-reinforced polymers (CFRP) is presented. On the one hand, a linear, baseline-dependent, technique utilizing the well-known correlation-based RAPID method and an array of piezoelectric transducers is applied to detect impact-induced damage in plate-like composite structures. Furthermore, a baseline-independent nonlinear extension of the standard RAPID method is proposed, and its performance is demonstrated both numerically and experimentally. Compared to the conventional RAPID, the baseline-free version suffers from a somewhat lower imaging quality. However, this drawback is compensated by the fact that no damage-free (intact) baseline is necessary for successful imaging of damage.