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Flat plates and cylindrical shells are commonly used in large equipment. To locate the low-velocity impact points in these structures, this study proposes an error-index-based algorithm for impact localization. The time of arrival of an impact-generated A0 Lamb waves was first estimated based on the energy of the signal. Equations for calculating the error indices were proposed for flat-plate and cylindrical shell structures, and the probability distribution functions of the impact points are constructed for visual localization. The impact test results on a flat plate and cylindrical shell indicated that, compared to the Morlet wavelet method, the proposed algorithm improved the mean relative error of impact point localization on the flat plate by 0.22%, 15.64%, and 15.26% under three different noise conditions, respectively (i.e., no noise, and SNR = 5 and 0 dB). For the cylindrical shell, the mean relative error of impact localization improved by 1.8%, 3.97%, and 28.12% under the three conditions, respectively. The results indicated that the proposed localization algorithm can accurately locate the impact points on a flat plate and cylindrical shell, even under strong background noise conditions, providing a reference for future research on locating low-velocity impact points in large equipment. [ABSTRACT FROM AUTHOR]