This paper proposes a new TR-based baseline-free SHM technique in which the time-reversal (TR) property of the guided Lamb waves is utilized. The new TR-based SHM technique has two distinct features when compared with the other TR-based SHM techniques: (1) The backward TR process commonly conducted by the measurement is replaced by the computation-based process; (2) In place of the comparison method, the TOF information of the damage signal extracted from the reconstructed signal is used for the damage diagnosis in conjunction with the imaging method which enables us to represent the damage as an image. The proposed TR-based SHM technique is then validated through the damage diagnosis experiment for an aluminum plate with a damage at different locations.