The Steelers signed Guilbeau (undisclosed) to a contract Monday, Teresa Varley of the team's official site reports.
Guilbeau signed with the Panthers in May as an undrafted free agent before being let go with a non-football injury designation in late July. He appears to have fully recovered from his undisclosed injury and will have the opportunity to audition in front of the Steelers' coaching staff for a spot on the 53-man roster or practice squad for the upcoming regular season.