Abstract Ultrasonic Lamb waves undergo complex mode conversion and diffraction at non-penetrating defects, such as plate corrosion and cracks. Lamb wave imaging has a resolution limit due to the guided wave dispersion characteristics and Rayleigh criterion limitations. In this paper, a full convolutional network is designed to segment and reconstruct the received signals, enabling the automatic identification of target modalities. This approach eliminates clutter and mode conversion interference when calculating direct and accompanying acoustic fields in time-domain topological energy imaging. Subsequently, the measured accompanying acoustic field is reversed for adaptive focusing on defects and enhance the imaging quality. To circumvent the limitations of the Rayleigh criterion, the direct acoustic field and the accompanying acoustic field were fused to characterize the pixel distribution in the imaging region, achieving Lamb wave super-resolution imaging. Experimental results indicate that compared to the sign coherence factor-total focusing method (SCF-TFM), the proposed method achieves a 31.41% improvement in lateral resolution and a 29.53% increase in signal-to-noise ratio for single-blind-hole defects. In the case of multiple-blind-hole defects with spacings greater than the Rayleigh criterion resolution limit, it exhibits a 27.23% enhancement in signal-to-noise ratio. On the contrary, when the defect spacings are relatively smaller than the limit, this method has a higher resolution limit than SCF-TFM in super-resolution imaging.