The invention provides a mobile visual-inspection system. A ground-based visual-inspection system includes a ground-based visual-inspection apparatus and a control system. The ground-based visual-inspection apparatus includes a mobile base, an actuatable arm coupled to the mobile base, and an end effector coupled to the actuatable arm. The actuatable arm is locatable in a three dimensional space.The end effector includes a camera configured to capture images of a structure, such as an aircraft. The control system is configured to determine location information of the camera relative to a reference location and associate the location information with the images.