A system and method for the detection of foreign object debris materials or defects on and/or under a surface (e.g., outer ply) of a composite part being formed by a composite layup machine. A gantry moves over the composite part along a predetermined length thereof. A thermal excitation source fixed to the gantry directs infrared radiation across the width of the surface of the composite part. A infrared camera fixed to the gantry a predetermined distance away from the thermal excitation source scans the surface as the gantry moves to detect and output scan information thereof. A controller is coupled to the thermal excitation source and to the infrared camera. The controller processes the sequence of infrared images to identify a foreign object debris material or defect located on and/or under the surface.