A computer-implemented method is described for detecting, identifying and locating an object feature in a ferromagnetic object. At least one hardware processor executes program instructions to: define a planned scan trajectory for scanning the ferromagnetic object with a sensor array comprising a plurality of magnetometer sensors, measure magnetic fields of the ferromagnetic object with the sensor array along an actual scan trajectory at locations adjacent to the ferromagnetic material to produce object scanning data representing magnetic characteristics of the ferromagnetic object along the actual scan trajectory. The actual scan trajectory includes deviation motion of the scanning array from the planned scan trajectory. The deviation motion is then compensated for to identify and locate the object feature in the ferromagnetic object. The compensation includes adjusting the object scanning data for the deviation motion and/or using a feature model that reflects the deviation motion.