Engineering Structures 244 (2021) 112728

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Engineering Structures
journal homepage: www.elsevier.com/locate/engstruct

Noncontact operational modal analysis of light poles by vision-based

motion-magnification method
Dionysius M. Siringoringo a, *, Samten Wangchuk b, Yozo Fujino a
a
Institute of Advanced Sciences, Yokohama National University, 79-1 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
b
Department of Urban Innovation, Yokohama National University, 79-1 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan

A R T I C L E I N F O A B S T R A C T

Keywords: Light and sign poles on elevated highway bridge are secondary structural elements that support functionality of a
Vision-based vibration measurement highway system. Over the time, they may suffer from fatigue damage due to traffic, wind, and earthquake-
Motion magnification induced vibration in a direct or indirect manner. As a secondary structural component, vibrations of light and
Light pole
sign poles are influenced by the bridge vibration, the primary structure. Structural condition assessment of the
Image processing
Dynamic mode decomposition
light and sign poles are normally conducted by visual inspection and/or vibration measurement using contact or
Operational modal analysis noncontact method. In this paper, a vision-based vibration measurement of the light poles on elevated highway
bridges using motion magnification and dynamic mode decomposition methods is proposed. Using the method,
vibrations of the light poles are captured by video camera and the phase-based motion magnification method is
implemented to magnify micro-vibration of the structure. By employing discretized centroid searching method,
spatial displacements of the light poles are extracted. Modal parameters of the structure are then identified from
the displacement responses by dynamic mode decomposition method. The study includes laboratory experiments
for verification, and the full-scale implementation on existing light poles on elevated highway bridges. The
vision-based results are compared with the noncontact vibration measurement using Laser-Doppler vibrometers.
Results of experiments and full-scale tests demonstrate the capability of the proposed method in extracting multi-
mode vibration characteristics of the light poles accurately in a noncontact long-distance measurement.

1. Introduction and the laborious work involved.

Light poles, traffic signs and transmission lines are important ele­
ments to provide improved safety, security, and aesthetics for highway
users. They are mostly designed as a free-standing, non or limited
redundant structural system. Light and sign poles mounted on the
elevated highway bridge are flexible and can vibrate during strong wind
or earthquake. As a secondary structural system, the vibration is directly
influenced by bridge vibration in addition to external excitation sources.
Previous study [1] reveals that amplification occurs on the light pole
vibration during an earthquake when the bridge natural frequency is
within 30% of the light pole fundamental frequency. Significant
amplification of the light pole is expected due to seismic resonance
because of its low damping. To understand dynamic characteristics and
assess the integrity of existing light poles, visual inspection and vibra­
tion measurements are usually conducted. However, frequent mea­
surements on numerous poles on the highway bridges are not normally
feasible especially using contact sensors because of the limited access
Noncontact vibration measurement system has been used widely as
an alternative for contact vibration measurement. Laser Doppler vibr­
ometer [2–5] and radar measurement system [6–8] with their distant
measurement and scanning capability have been employed in the past to
measure structural vibration. These measurement devices and systems,
however, are relatively expensive and require certain skills to operate.
Therefore, high measurement resolution by alternative noncontact
measurement systems which are less expensive and easy to operate are
desirable for massive use in modal testing of light poles on the highway.
This can be achieved through digital high-speed video camera mea­
surement system. The video camera is relatively less expensive, easier to
setup and deployable for frequent measurement of numerous objects.
With the availability of robust image processing algorithms, full-field
structural dynamic response can be obtained successfully from video
camera measurements. Such vision-based measurement is relatively
easy to deploy and can provide higher spatial resolution where any pixel
could become a measurement point.

* Corresponding author at: Institute of Advanced Sciences, Yokohama National University, Japan.
E-mail address: dion@ynu.ac.jp (D.M. Siringoringo).

https://doi.org/10.1016/j.engstruct.2021.112728
Received 12 December 2020; Received in revised form 7 May 2021; Accepted 14 June 2021
Available online 24 June 2021
0141-0296/© 2021 Elsevier Ltd. All rights reserved.
D.M. Siringoringo et al.
Vision-based measurement and monitoring systems have been
viewed as promising tools for vibration measurement of civil structures
since they offer advantages over the traditional vibration sensors in
terms of instrumentation cost, efforts, capacity of frequency range, and
spatial resolution [8,9]. One of the challenges in applying vision-based
measurement system to civil structures is the inability to capture small
amplitude structural motion during ambient vibration. However, recent
developments in computer vision have made a breakthrough via motion
magnification techniques. By employing the motion magnification al­
gorithm, one can extract detailed structural motion even under very
small amplitude of excitation. Wadha et al. 2013 [10] developed the
phase-based video motion magnification (PVMM) technique, which has
been successfully implemented to obtain the amplified vibration of an
object for various purposes, ranging from the heart rate detection in the
medical science to machinery vibration in the mechanical engineering.
Using this method, micro-vibration of an object that was originally
invisible is amplified within frequency of interest, and the amplified
spatial displacements are extracted using available image processing
methods. Various computer vision-based signal processing and machine
learning techniques have been developed to extract vibration response
of the structure from image analysis. Notable methods used for this
purpose are based on, among others, the principle centroid detection
[12], edge detection [13], principal component analysis, and blind
source separation. [14–22].
In this paper, a vision-based vibration measurement of the light poles
on elevated highway bridges using motion magnification and dynamic
mode decomposition is proposed. This study is an extension of the
previous study by the authors [23] that employs the phase-based motion
magnification technique. The technique is extended to allows for not
only single-mode rigid body motion, but also multimode operational
modal analysis of flexible structures. In this study, micro-vibrations of
the light poles were recorded by video camera and amplified by PVMM
Fig. 1. Flowchart of the proposed operational modal analysis of light pole using noncontact video-based measurement.
2
Engineering Structures 244 (2021) 112728
technique. Spatial displacements along the structure are extracted from
the amplified vibration using the Discretized Centroid Searching Method
(DCSM) that basically utilizes the principle of finding the centroid of a
discretized moving object. Finally, the displacement responses are uti­
lized to obtain modal parameters of the light poles using the Dynamic
Mode Decomposition (DMD) [24] method. The paper is organized such
that the basics on the methodologies (i.e., PVMM, DCSM and DMD) are
explained first. Then experiment verification is provided to demonstrate
feasibility of the method for displacement extraction and estimation of
modal parameters. Finally, implementation of the method to practical
field measurements on the existing light poles mounted on highway
viaducts is described.
2. Methodologies
The three main methodologies employed in this study to obtain
multimode modal parameters of the light pole structure are: 1) Phase-
based Video Motion Magnification (PVMM) to amplify micro-vibration
of the structure, 2) Discretized Centroid Searching Method (DCSM) to
extract spatial displacement responses of the structure from the video
frames; and 3) Dynamic Mode Decomposition (DMD) to estimate modal
parameters of the structure from spatial displacement responses. Fig. 1
illustrates the flowchart of all steps and the detailed processes required
in each step. In this section, theoretical backgrounds on the methodol­
ogies are explained concisely, while detailed explanations of each
method are available in the main references.
2.1. Phase-based vibration motion magnification (PVMM) method
Video measurement of a vibrating object consists of temporally dis­
placed frames with image intensity, I(x +δ(x, t)) where x is the pixel
coordinate and δ(x, t) is the spatially and temporally varying local mo
D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

tion. The magnitude and the local phase determine the characteristics of
captured video motion, and they can be obtained from two-dimensional
Fast Fourier Transform (2D-FFT) by multi-scale and localized filters. The
phase information gives a better estimate of the motion than the
magnitude (amplitude) as it is unaffected by illumination effects and
surface conditions. The advantages of using phase information to esti­
mate of the motion is utilized in the local phase-based motion magni­
fication technique. The PVMM algorithm decomposes the signal in the
video into local spatial amplitude and phase using a complex-valued
steerable pyramid filter bank. The local spatial phase signals are
decomposed temporally using the Fourier transform into a series of si­
nusoids representing harmonic motion. Then, the phase signals are
band-pass filtered, amplified, and recombined back to form a video of
magnified motion.
In the following section, derivation of the method based on the work
by Wadhwa et al. [11] is briefly described. Readers are advised to refer
to the original work for the complete derivation. As mentioned previ­
ously, each frame (subset) of a video (set) is spatially multi-scale and
temporally local, δ(x,t). To implement PVMM, one needs to first extract
the local phase and amplitudes by employing the complex steerable
pyramid filters. The filter is a complex Gabor type filter with sinusoids
windowed by the Gaussian envelope [25]. Using Fourier series decom­
position, one can obtain a summation of single frequency (ω) complex
sinusoids that represents the displaced frames as:
∑
∞ ∑
∞
I(x + δ(x, t) ) = Bω (x, t) = Pω ei2πω(x+δ(x,t)) (1)
ω=− ∞ ω=− ∞
where Bω (x, t) represents the sinusoid sub-band, and ω(x +δ(x, t)) de­
notes the phase that contains motion information.
The motion can be manipulated by altering the phase as in the
Fourier shift theorem. The phase ω(x +δ(x, t)) is temporally filtered to
isolate motion in a specific temporal frequency range, and then multi­
plied by a magnification factor α as I(x +(1 + α)δ(x, t) ). This process will
magnify the phase of a particular sub-band Bω (x, t) and result in
Bω (x, t) = Bω (x, t)eiα2πωδ(x,t) = Pω ei2πω(x+(1+α)δ(x,t)) (2)
where Bω (x, t) is a complex sinusoid that has (1 + α) times magnified
input motion. Consequently, the phase of each coefficient is magnified
for each frame by this factor. The motion magnified video can be
reconstructed by dissolving the pyramid of the complex steerable pyr­
amid filters, which is a half octave bandwidth. After computation of the
spatial filters, the phase differences from the reference frame for each
level are computed. A necessary temporal bandpass filtering is applied
prior to applying the amplification factor (α). Introduction of amplifi­
cation factor (α) changes the noise characteristics in the image. Let as­
sume that a response of a noise-contaminated image for a particular
scale and orientation I +σn n can be written as:
Nω = Bω (x, t) + σn Mω (x, t) (3)
A two-dimensional Gaussian smoothing kernel with standard devi­
ation (σ ) is utilized. The kernel gives a rotationally symmetric Gaussian
lowpass filter. Finally, one can obtain the small motions without noise
by combining all phases of the magnified frames to form the final video.
Note that the magnified motion of vibrating object contains the same
dynamics characteristics as the original motion. Therefore, modal pa­
rameters of the vibrating object can be extracted from the magnified
motion once the displacement responses of the object are obtained.
2.2. Extraction of spatial displacements by discretized centroid searching
method (DCSM)
The phase-magnified video provides a four-dimensional (4D) array
as, a-by-b-by-3-by-k and it is divided into k frames of still image. The real
color images are converted to grayscale by eliminating the hue and
saturation information while retaining the luminance. The idea of dis­
cretized centroid method is to obtain the spatial displacement time
history of a vibrating object by dividing the object into numerous dis­
cretized cropped regions. Fig. 2 illustrates schematically the process of
tracing displacement of vibrating object by DCSM. At the first step, the
gray-converted still image sampled at time t is divided into several of
grids (xy) containing the vibrating object and the background. In each
grid, centroid of the discretized object Cxy(t) is computed by employing
the Otsu Threshold Segmentation method (OTSM) [12]. Centroids of the
discretized cropped regions associated with the vibrating object are
retained for the consecutive frame t, t + 1, until the last frame. They are
then combined to trace the centroids movement over the length of video.
The centroid locations represent the movement of the discretized object,
and they can be independently extracted to obtain spatial displacement
response of the object.
The centroid information of each grid is obtained by Otsu Threshold
Segmentation method (OTSM), whose main idea is described in this
section. Consider the pixels in a grid of a given frame of a still image
represented in L gray levels [1, 2, ...L]. The number of pixels at level i is
denoted by ni and the total number of pixels by N = n1 , n2 , + ...nL . The
gray-level histogram can be normalized and regarded as a probability

where Mω (x, t) is the response of n to the complex steerable pyramid

filter ω. The response is shifted by eiα2πωδ(x,t) due to magnification and as
a result, the motion magnified band becomes:

N ω (x, t) = Bω (x, t) + σn eiα2πωδ(x,t) Mω (x, t) (4)

This phase shift corresponds to a translation of the noise when the
pyramid is dissolved. It is noted that the input noise sequence could add
noise to the phase that results in incorrect magnification. Amplitude-
weighted spatial Gaussian blur on the phases is introduced to deal
with this problem. It has the phase φi,k and amplitude Pi,k for each frame
k and each band i. A weighted Gaussian blur is then computed using a
Gaussian kernel Kρ , as:
( )
φi,k Pi,k *Kρ /Pi,k *Kρ (5)
Fig. 2. Schematic figure for tracing the centroid movement of vibrating object
in the Discretized Centroid Searching Method (DCSM).

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D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

distribution: time-sampled data of the size p and q, where p and q are the user-defined
numbers selected so that matrix X is full rank and has enough amount of
∑
L
pi = ni /N, pi ≥ 0, pi = 1 (6) data.
i=1 ⎡ ⎤
Zωi (0) Zωi (1) ⋯ Zωi (q − 1)
As suggested by Otsu [10], the pixels can be divided into two classes ⎢ Zωi (1) Zωi (2) ⋯ Zωi (q) ⎥
X≜⎢ ⎥ (11)
C0 and C1 (background and objects, or vice versa) by a threshold at level ⎣ ⋮ ⋮ ⋱ ⋮ ⎦
k. In the case of light pole still image, this can be done simply by Zωi (p − 1) Zωi (p) ⋯ Zωi (p + q − 2)
considering sky as the background. The quantity C0 denotes pixels with
Next, a new input matrix Y is constructed using the shifted time
levels [1,2,…,k], and C1 denotes pixels with levels [k + 1, ...L]. A crite­
displacement data. Similarly, size of the matrixY is determined by
rion that measures the separability of threshold at level k can be defined
integer p and q as follows.
as the function of probabilities of class occurrence and the class mean
⎡ ⎤
levels as: Zωi (1) Zωi (2) ⋯ Zωi (q)
⎢ Zωi (2) Zωi (3) ⋯ Zωi (q + 1) ⎥
η(k) = σ2B (k)/σ2T (7) Y≜⎢⎣ ⋮
⎥
⎦ (12)
⋮ ⋱ ⋮
Zωi (p) Zωi (p + 1) ⋯ Zωi (p + q)
where
In the dynamic mode decomposition, the procedure for realization of
σ 2B (k) =
[μT ω(k) − μ(k)]2
(8) system matrix starts by taking the singular value decomposition (SVD) of
ω(k)[1 − ω(k)] input matrix X as:

and X = UΣV * (13)

∑ where U is pm × n, Σ is a diagonal matrix with the size n × n, V is q × n

L
σ 2T (k) = (i − μT )2 pi (9)
i=1
and * denotes the conjugate transpose. Here, n is the rank of the reduced
SVD approximation of X. Next, a matrix A is defined as:
In the above equations, the quantities ω(k) and μ(k) are the proba­
bilities of class occurrence and class means, respectively. A≜U* YVΣ− 1
(14)
To implement the method, binary images are created from two-
dimensional grayscale images by replacing all values above the glob­ The matrix A denotes a low-dimensional linear model of the
ally determined threshold with ones and setting all other values to zeros. dynamical system. Then, we compute the eigenvalues and eigenvectors
The threshold value was selected in the above equations to minimize the of matrix A,
intra-class variance of the threshold black and white pixels. A 256-bin
image histogram is used to compute the threshold. Finally, center of AW = WΛ (15)
the mass or centroid of the grid is calculated for both x and y directions
where columns of matrix W denote the eigenvectors and Λ is a diagonal
in the pixel resolution. The centroids information is transformed from
matrix containing the corresponding eigenvalues λi . Finally, the eigen-
pixel resolution to the Cartesian coordinate and then combined to trace
decomposition of matrix A is reconstructed from matrix W and Λ by
the spatial movement of the structure over the length of video. To obtain
the following equation:
a better quality and finer spatial resolution of displacement along the
object, one can divide the frame into more grids. Φ = YVΣ− 1 W (16)

2.3. Extraction of modal parameters from displacement responses
In this study, dynamic mode decomposition (DMD) is employed to
extract modal parameters from a spatiotemporal displacement of the
structure. The DMD method was originally used as a low-rank diagnostic
tool for decomposing fluid flow data into dominant spatiotemporal
modes [26] providing a valuable interpretation of coherent structures in
complex systems. The DMD can be considered as the family of subspace
identification techniques [24,27] and recent innovations have also made
significant progress in implementing DMD for robust future-state pre­
diction. Since its introduction, DMD was found to be robust and versa­
tile. It has been extensively studied and rigorously benchmarked and
compared with other leading techniques in the dimensionality reduction
and reduced order modeling.
In this study, the DMD is adopted for modal identification of the
structure using the spatial displacement responses obtained by the
DCSM. Note that outputs of DCSM are the magnified displacement re­
sponses at specific frequency range ωi . They are expressed as zωi (χ , t) ;
where χ denotes the spatial coordinate of the object χ = 1, 2..., m; and t is
the time. Assuming that the sequence of images can be divided by equal
time interval Δt, the continuous time variable can be represented as a
discrete variable k where k = 0, 1, 2..., (p + q). Therefore, the time-
history of magnified spatial deformation can be rewritten in a matrix
form as:
Zωi (k) = [ zωi (1, k) zωi (2, k)⋯ zωi (m, k) ]T (10)
One can construct an input matrix X that consists of consecutive
The eigenvectors of matrix A that is the dynamic decomposition
mode are given by the columns of matrix Φ (ϕi ). Meanwhile, the ei­
genvalues λi are expressed in z-domain and they are related to the modal
characteristics using the following transformation:λi = ln(λi )/Δt.
Finally, the natural frequency (ωi ) and the damping ratio (ξi ) are ob­
tained as:
√̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅
− Re(λi )
ω0i = Re(λi )2 + Im(λi )2 , ξi = (17)
ω0i
3. Experimental verifications
To validate the methodologies explained above, experimental veri­
fication was conducted on a cantilever pole specimen to model the light
pole. The cantilever pole is made of aluminum with dimensions: height
1000 mm, width 40 mm and thickness 2 mm and it was fixed at the
bottom support. Vibration of the cantilever was measured only on the
weak axis. The first theoretical modal frequency was calculated using
√̅̅̅̅̅̅̅̅̅̅̅̅̅̅
formula ω01 = 1.8752 /2π EI/ρL4 ; where the Young’s modulus of
aluminum specimen was E = 69GPa, length of cantilever (L) 1000 mm,
width of 40 mm, and thickness of 2 mm. The theoretical frequency of the
first mode is calculated as 2.43 Hz.
The specimen was excited by introducing initial deformation on the
top of the plate to initiate the free vibration response. Fig. 3 shows the
setup of experiment verification. The measurements were conducted
with the support of ordinary indoor lighting without any external illu­
mination enhancement condition. A high-speed stationary video camera

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D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

Fig. 3. Experimental verification of the proposed operational modal analysis of light pole by high-speed video camera system. (a). Image frame of cantilever beam
specimen captured by video camera, (b). Experimental setup of cantilever beam using video camera and Laser Doppler Vibrometer (LDV) as the reference.

(SONY NXCAM) with pixel resolution of 1920 × 1080 was utilized to

capture cantilever vibration. The camera records the full field motion of
the structure at a frame rate 120fps. For comparison, the vibration was
also measured simultaneously by laser Doppler vibrometer (LDV) Pol­
ytec’s RSV-150. The laser was placed on perpendicular direction to the
vibration’s plane and measured the out-of-plane displacement of the
cantilever.

3.1. Implementation of PVMM and DCSM

The video of cantilever vibration was post-processed by applying the

PVMM for the selected frequency band. The pixel resolution of the video
for further processing was downsampled to 1200 × 420 × 3600, where
3600 represents the number of frames. And the frequency was down­
sampled to 30 Hz. The magnified frames were kept separated for
implementing the proposed displacement extraction technique. The
true-color (RGB) image was converted to a grayscale image and binary
image, which was utilized later for implementation of DCSM in the pixel
resolution. Fig. 4 shows example of transformations of a magnified
image frame from the original full color to a converted grayscale, and
finally to a binary image. This procedure was repeated for all frames of
the magnified images. The first set of post-processing was performed for
the magnifying phase in the cut off frequency range of 1–3 Hz as the first Fig. 4. Temporal frame of the magnified motion of cantilever beam. (a) The
140th frame of magnified motion; (b) converted grayscale image; (c) converted
modal frequency lies within this range, and the amplification factor α
binary image (Note: the corresponding video is available as Video 1. Video of
was kept as 1.
magnified vibration in the 1st mode).
After converting the temporal frame of magnified motion from
grayscale to binary image, the image was divided into several grids for
entire length of video.
implementation of DCSM. As illustrated in Fig. 2, this was conducted by
Comparison of free vibration responses obtained by laser doppler
dividing the original frame of R rows and C columns into n rows and m
vibrometer and the video measurement is shown by Fig. 6. Note that the
columns of grids, where the binary image number corresponding to ith
laser beam was directed at the center of the cantilever pole corre­
row and jth column were defined as:
sponding to the location of grid 5 of the spatially discretized binary
S(i, j) = bin((i − 1)R/n + 1 : iR/n, (j − 1)C/m + 1 : jC/m) (18) image. The figure clearly shows that the free vibration response and its
Fourier spectra obtained by video camera after PVMM process are
Note that notation bin in Eq. (18) defines the binary image matrix.
almost identical with the one measured by LDV. Fourier spectra of
Fig. 5 shows an example of image discretization. In this example, the
displacement recorded by LDV clearly shows that the cantilever vibra­
original binary image size is 1200 × 420 (i.e., number of rows is 1200
tion is dominated the peak at 2.42 Hz, which corresponds to the first
and number of columns is 420) divided into nine grids along the vertical
bending mode of the cantilever. The frequency was estimated slightly
line. The centroid information of each grid in the pixel resolution was
lower than the theoretical value, but it was still within reasonable range
estimated by OTSM and then transformed from pixel resolution to
of estimation. Damping ratio of the first mode was estimated to be
physical coordinate. This procedure was repeated for all frames of
0.40% by random decrement method [28]. It should be mentioned that
temporal images to obtain spatial displacement of the structure over the

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D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

Fig. 5. Example of binary image spatial discretization process of the magnified temporal frame into several grids along the vertical line for implementation of DCSM.

Fig. 6. Comparison of cantilever beam displacement responses obtained by LDV and by video camera after implementation of PVMM.

at this experiment only the first cantilever mode was excited.
3.2. Implementation of DMD system identification
The free vibration displacement responses derived from video mea­
surement by PVMM and DCSM procedures responses were utilized as
input of the DMD system identification. Fig. 7 shows the displacements
time histories for grid no.1, 3, 5 and 7 together with the corresponding
Fourier spectra. The figure clearly demonstrates that the displacement
responses have similar decaying pattern, and they are all characterized
by the resonant frequency of the first mode at 2.42 Hz. The responses
were sampled at 30 Hz and utilized as the input to matrix X as explained
by Eq. (11). The size of input matrix was selected by setting p = 500 and
q = 200, which is equivalent to 21 s of free-vibration displacement data.
The same size of shifted input matrix Y was constructed using the shifted
time displacement data as noted by Eq. (12). The system identification
process was continued by taking the singular value decomposition of
input matrix X and estimating the state matrix A. This involved a
truncation of singular values in the diagonal matrix of singular values Σ
to the size of n = 2that represents the double of the number of selected
system order. Afterwards, the eigenvalues of matrix A were estimated,
from which the natural frequency (ωi ) and damping ratio (ξi ) were

6
D.M. Siringoringo et al.
Fig. 7. Examples of cantilever displacement responses obtained by video camera after implementation of PVMM and DCSM. (a) Time-histories of displacements, and
(b) Fourier spectra of displacements.
obtained. The eigenvectors were estimated by Eq. (16) to obtain the
corresponding mode shapes.
The resulted modal parameters identified by DMD method are shown
by Fig. 8. The DMD method successfully identified the first mode at
2.416 Hz and damping ratio 0.415%. The values are very close the re­
sults obtained by LDV which is 2.42 Hz for natural frequency and 0.40%
for damping ratio. The mode-shape clearly shows the typical shape of
first mode and it is shown that the shape is similar to the operational
deflection shape extracted directly from the camera measurement after
the PVMM using edge detection based on Laplacian of Gaussian method.
The experimental verification demonstrates that modal parameters
identified by the proposed methods agree well with reference values
measured by conventional vibration sensor laser Doppler vibrometer. It
should be mentioned that depending on the pixel size of the frame, the
PVMM and DCSM procedure require quite extensive computer compu­
tation. For example, the calculation time for one minute video with pixel
resolution 2160 × 1080 and frame rate 30fps for one grid in the DCSM
process takes about four hours. The computation was performed using a
computer with the processor- Intel® Core™ i7-8650U, CPU with pro­
cessor base frequency 1.90 GHz and configurable TDP-up frequency
2.11 GHz, and 16 GB RAM of memory. To obtain finer resolution of
modal displacement, more grids are needed, and this consequently will
increase the computational time. The part of algorithm that requires the
most computational time is the phase magnification part because the
7
Engineering Structures 244 (2021) 112728
bandwidth used for this process is the half-octave and eight orientations.
The heavy computation requirement sometimes limits the attainable
length of displacement response extracted from video measurement.
There could be reduction in computational time if alternative or
improvement of the phase magnification part is developed especially
regarding the number of orientations. However, further study is needed
to investigate this effect and to find the optimum balance between
effective computational time and high accuracy of the results.
4. Implementation on full-scale measurement of light poles on
highway viaduct
Full-scale implementation of the proposed measurement methods for
operational modal analysis of light poles on highway viaduct is
described in this section. The target viaduct is located on the Kinko
Junction, Yokohama city, Kanagawa, Japan. It is a double deck curve
viaduct in a metropolitan expressway network. On the top of bridge
deck, many light poles of type STB9.1 are mounted. These light-poles
have the following dimensions: height 9.1 m, diameter 139.8 mm at
the bottom and tapered to 89.1 mm in the middle to the top with a width
of 60.5 mm. The poles are fixed on bottom by base steel plate with the
size 35 cm × 40 cm and anchored to the highway curb using M30 high
tension bolts. The poles are made of carbon steel pipe (STK 400 with
modulus of elasticity of 206,000 N/mm2) and weighs about 130 kg each.
D.M. Siringoringo et al.
Fig. 8. (a) Modal parameters of the cantilever identified by DMD method using displacement responses obtained by video camera after applying the PVMM and
DCSM. (b) Operational deflection shape extracted from the PVMM using Laplacian of Gaussian edge detection method (LOG).
Some light poles have signboards weighing 15.2–26 kg attached on
them. These attachments would have effect on the light poles’ dynamic
characteristics.
Vibration measurement was conducted in an ambient condition,
where the source of vibration was mainly traffic-induced vibration.
Measurement was performed simultaneously using high-speed video
camera system SONY NXCAM and Laser Doppler Vibrometer (Polytec’s
RSV-150), where the later device was utilized for validation. It should be
mentioned that the LDV is a single point laser type that provides vi­
bration response only from one target point on the pole. Therefore, only
natural frequencies and damping ratios of the light pole were obtained
by vibration measurement using LDV. The measurement using video
camera, on the other hand, provided estimations of natural frequencies,
damping ratios, and mode-shapes. Ambient vibrations of the light poles
were captured by high-speed video camera system SONY NXCAM with
pixel resolution 3840 × 2160 at frame rate of 30fps. Both devices were
placed on the ground at distance about 100 m away from the target light
poles as shown in Fig. 9(a) and the measurement were conducted
simultaneously in the same condition and measurement settings,
namely, the outdoor setting without any environmental corrections such
as lighting and disturbance of wind.
Note that as investigated previously [1], there are two main di­
rections of light pole’s vibration. Direction that coincides with the
lamp’s hook is considered as the main or strong axis, and the pole vi­
bration in this direction is called the in-plane vibration. Meanwhile di­
rection perpendicular to the strong axis is considered as the secondary or
weak axis. Vibration in this direction is called the out-of-plane vibration.
8
Engineering Structures 244 (2021) 112728
Two light poles, P1 and P2 were investigated in this measurement, and
their results are described in detailed in the following section. Fig. 9(b)
and (c) show the still image captured by video camera. The figure clearly
show that the video motion captured on the light pole P1 is the in-plane
motion while that of the light pole P2 is the out-of-plane motion. The
LDV was placed in a location so that the direction of laser beam is
perpendicular to the direction of the motion captured by video camera.
Finite element analysis conducted on the typical light poles reveals that
the respective natural frequencies of the pole in the in-plane and out-of-
plane directions are very close [1]. This is thought to be caused by the
light pole’s geometry and material that are uniform along the height in
both directions except for a small mass attached near the top to model
the lamp.
4.1. Results of measurement by LDV
Fig. 10 shows the examples of 200 s ambient vibration responses of
light pole P1 and P2 obtained by LDV. Note that the light poles vibra­
tions are ambient vibration with random characteristics of amplitude.
The displacement amplitudes were in the range of ±2 mm and ±0.5 mm
for P1 and P2, respectively. The spectra show that the light poles vi­
brations are largely dominated by the first mode, and they were iden­
tified as 1.613 Hz for P1 and 1.563 Hz for P2. Random Decrement
technique [28,29] was applied to obtain the free vibration responses and
damping ratio was estimated by logarithmic decrement method. Fig. 10
(a) and (c) show the free-vibration responses obtained after isolating the
first mode. Based on the free-vibration responses, damping ratios were
D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

Fig. 9. Implementation on full-scale measurement of the light poles on highway viaduct. (a) Measurement setup using a high-speed video camera system and Laser
Doppler Vibrometer (LDV) as a reference (b) Light pole P1 captured by video camera, (c) Light pole P2 captured by video camera.

Fig. 10. Ambient vibration measurement using Laser Doppler Vibrometer (LDV). Light Pole P1: (a) Time-histories of displacements and free-vibration response
extracted by random decrement, (b) Fourier spectra of displacement and the free-vibration response. Light Pole P2: (c) Time-histories of displacements and free-
vibration response extracted by random decrement, (d) Fourier spectra of displacement and the free-vibration response.

estimated to be 0.44% and 0.56% for P1 and P2, respectively. The
spectra of ambient vibration responses (Fig. 10(b) and (d)) reveal two
other peaks corresponding to the second and the third modes. Similarly,
the Random Decrement technique was applied to the second and third
mode to obtain natural frequency and damping ratio. Table 1 lists the
complete information on modal parameters obtained from LDV mea­
surement. Note that since the LDV is a single point measurement system,
the mode shapes information cannot be obtained from laser
measurement.
4.2. Results of measurement by video camera and implementation of
PVMM
The video recording was carried out at a frame rate 30fps with pixel

9
D.M. Siringoringo et al.
Table 1
Natural frequencies and damping ratios of the light-poles identified from LDV
measurement.
Pole Natural frequencies (Hz) Damping ratio (%)
No.
1st 2nd 3rd 1st 2nd 3rd
mode mode mode mode mode mode
P1 1.613 2.197 6.934 0.439 1.821 0.240
P2 1.563 3.662 6.494 0.560 0.889 0.786
resolution of 2160 × 1080. The original videos of the light pole P1 and
P2 were downsampled for further analysis to 1268 × 1268 × 3600-pixel
resolution, where 3600 represents the number of frames. The first set of
post-processing is phase amplification. This process was conducted by
amplifying the phase for a frequency range corresponding to the range of
the first modal frequency. Amplification factor α = 30 as defined in Eq.
(2) was selected. The magnified frames were kept separated for appli­
cation of displacement extraction technique. The true-color (RGB)
image of the magnified image was converted to the grayscale image and
then to the binary image. In the latter form, the background was sepa­
rated from the target structure image as shown in Figs. 11 and 12 for
light pole P1 and P2, respectively. Next, the still image was divided into
several grids along the pole’s height to implement DCSM. The centroids
of the grids were computed in pixel resolution and tracked throughout
the video duration. In this case, each still image was divided into nine
grids along the pole’s vertical direction. Afterwards, the pixel coordinate
was converted to displacement time histories that represent the spatial
displacement of the pole. As mentioned previously, the spatial dis­
placements were the in-plane displacement for light pole P1 and the out-
of-plane displacement for light pole P2. Examples of displacement time-
histories of the centroid in the middle grid of pole P1 and P2 are shown
by Fig. 11 (d) and Fig. 12(d), respectively. It is evident from the figures
that displacement responses are very small with the amplitude in the
range of ±2 mm for P1 and ±0.4 mm for P2, which is consistent with the
amplitude measured by LDV. The procedure was repeated for all fre­
quency ranges where the possible light pole natural frequencies can be
found. Three frequency ranges corresponding to the first three natural
frequencies are identified using information of the spectra of displace­
ment response for the frequency range 0–10 Hz. This was also supported
by frequency spectra obtained from laser measurement for the same
frequency range.
Note that the amplitudes of light pole spatial displacement estimated
within its natural frequency range are random. One needs to extract the
free-vibration response from such a random response to obtain modal
parameters using DMD method. This can be done by employing the
random decrement technique (RDT) [28,29] or the Natural Excitation
Fig. 11. Temporal frame of magnified motion of Light-pole P1: (a) 100th RGB frame of magnified motion; (b) converted grayscale image; (c) converted binary image
(d) displacement response of the pole’s middle grid extracted from video measurement after amplification with factor α = 30. (Note: the corresponding video are
available as Video 2. Magnified vibration of the 1st Mode and Video 3. Magnified vibration of the 2nd mode).
10
Engineering Structures 244 (2021) 112728
Technique (NExT) [30]. In this work, since the objective is to obtain the
multimode free-vibration responses, the NExT is utilized. In this method,
the cross-correlation functions between the spatial displacements and a
selected reference displacement is computed to estimate the free-
vibration responses as follows:
[ ]
Rkir (T) = E yki (t + T) × ykr (t) (19)
where yi denotes the spatial displacement i and yr is the reference
displacement. The reference displacement point is selected as the one
that has the maximum modal displacement for each mode. The resulted
cross-correlation responses Rkir (T) are used as inputs of X and Y matrices
defined in Eqs. (11) and (12).
Examples of the free-vibration responses extracted from random
ambient vibration by the NExT at sampling frequency 30 Hz are shown
in Fig. 13 for grid number 1 to 4 of the light pole P1. The figure clearly
demonstrates that the displacement responses have similar decaying
pattern, and they are all characterized by the resonant frequency of the
first mode at 1.615 Hz. The similar procedure was implemented for the
light pole P2, and the extracted free-vibration responses at sampling
frequency 30 Hz are shown by Fig. 14 for grid number 1 to 4. The spectra
figure clearly demonstrate identical frequency of all cross-spectra which
correspond to the first mode at the 1.57 Hz. Note that for both light pole
P1 and P2, the spectra are characterized by sharp peaks and narrow
band under the spectra indicating low damping characteristics of the
light pole.
The cross-correlation responses were then utilized as input for DMD
system identification and the input matrix X is constructed as explained
by Eq. (11) using the user-defined values of p = 500 and q = 200. This is
equivalent to constructing an input matrix of 21 s of free-vibration
displacement data. The same size of shifted input matrix Y was later
constructed using the shifted time displacement data as noted by Eqs.
(11) and (12). The system identification procedure was continued by
taking the singular value decomposition of input matrix X and esti­
mating the matrix A. This involved a truncation of singular values in the
diagonal matrix Σ to the size of n = 2, that correspond to the double of
the number of selected system’s order. Afterwards, the eigenvalues of
matrix A were estimated, from which the natural frequency (ωi ) and
damping ratio (ξi ) were obtained. The eigenvectors were estimated by
Eq. (16) to obtain the corresponding mode shapes. The DMD method
successfully identified the first three modes of both light poles as shown
on Fig. 15.
Table 2 lists the three identified modes including the natural fre­
quencies, damping ratios and modal assurance criteria (MAC) [31]
values. Note that the MAC values are calculated by comparing the
identified mode-shapes with theoretical modes of cantilever. The results
D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

Fig. 12. Temporal frame of magnified motion of Light pole P2. (a) The 100th RGB frame of magnified motion; (b) converted grayscale image; (c) converted binary
image, and (d) displacement response of the light pole’s middle grid extracted from video measurement after amplification with factor α = 30. (Note: The corre­
sponding video are available on Video 4. Magnified vibration of the 1st Mode, and Video 5. Magnified vibration of the 2nd mode).

Fig. 13. Results of NExT implementation to random vibration for mode 1 of the light pole P1: (a). cross-correlation functions of displacements, and (b) cross-spectra
of displacements for grid number 1 until 4.

show that identified natural frequencies are very close to the corre­
sponding natural frequencies identified by the LDV measurement.
Whereas the identified damping ratios are slightly different from the
corresponding values identified by single point laser measurement, but
still within the reasonable range. The MAC values indicate reasonable
mode-shapes comparison with the values larger than 75%. It is noted
that the first mode-shape, which is the dominating vibration mode has
the highest MAC value because the mode can be easily identified from
the response. Meanwhile participations of the second and third modes
on the overall response are quite limited.
The relatively poor results of the third mode’s MAC value, especially
that of light-pole P2 is mainly caused by the condition of light pole and
limitation of DCSM implementation. Sign boards are attached to both
light poles at the location near to the inflection point of the third mode,
especially for the light pole P2. When implementing the DCSM to the
binary figure, additional shape was created by the sign board, and this
incorrectly changed the centroid positions of the corresponding grids
out of the pole’s center line. Therefore, these grids are excluded from the
analysis, and the exclusion affected the accuracy of MAC value when the
identified mode-shape vector was compared to the analytically derived

11
D.M. Siringoringo et al.
Fig. 14. Results of NExT implementation to random vibration for mode 1 of the light pole P2: (a). cross-correlation functions of displacements, and (b) cross-spectra
of displacements for grid number 1 until 4.
one. The results of damping identification from vision and laser mea­
surements both show that the light poles have remarkably low damping,
which is consistent with previous study that was based on vibration
testing of the similar light poles [1].
Note that the LDV measurement was conducted only for verification
purpose. Measurement can also be conducted only by video camera
without LDV or other type of contact/noncontact sensor. In such a case,
after recording the object vibration by video camera, the PVMM algo­
rithm is applied to a wide range of frequency considered to be the most
possible range of the structure’s dominant frequencies. Prior knowledge
from finite element model or analytical model of the structure is helpful
to determine the more precise range of frequency, but basic knowledge
of structural dynamics is normally adequate to predict the possible range
of the structure’s dominant frequencies. The peaks corresponding to the
natural frequencies of the structure would normally appear in the
spectra of the motion-magnified vibration within the selected range of
frequency. Using the information of the frequency peaks, further
filtering and amplification can be conducted to narrow down and obtain
the more precise range of frequency. The procedure is repeated itera­
tively until all the natural frequencies indicated by the frequency peaks
can be identified.
4.3. Discussion on the practical aspects of implementation and limitation
of the method
There are some practical considerations and important aspects to this
method that require attention especially during video recording. One
important aspect of measurement is the angle and position of the camera
with respect to the measured object. The best angle for camera is at the
perpendicular angle to the plane on which the object is vibrating.
However, this is not always possible in practice. Therefore, we need to
arrange the camera position so that the angle between the vibration’s
12
Engineering Structures 244 (2021) 112728
plane and the camera is not less than 45◦ (positive and negative angle).
The angle less than 45◦ would give unfavorable results since the object
motion on its two major axis becomes indistinguishable. This can be
considered as a limitation of the method when using only one video
camera.
Another important aspect of measurement is weather condition. The
most favorable weather condition for video measurement based on
practical application is on a clear day without any clouds and wind gust.
The presence of clouds in the background hinders the process of sepa­
rating the target structure from background, and incorrectly results in
multiple centroids which ultimately reduces the accuracy when imple­
menting the DCSM algorithm. The presence of wind gust would shake
the camera and introduces unwanted noise to the actual object vibra­
tion. In our experiments on the light poles, vibration of video camera
was negligibly small because the measurement was conducted on the
ground and the camera was firmly fixed on a tripod. There was no sig­
nificant ground vibration from either traffic or wind. However, in a case
where vibration of the camera is substantial and affects quality of the
video, an additional countermeasure should be considered. One way to
solve the problem is by identifying the characteristics of camera vibra­
tion and removing the frequency content associated with the camera
vibration using digital filtering. For this purpose, characteristics of
camera vibration needs to be identified by recording the camera vibra­
tion using small wireless sensor mounted on the tripod.
The other aspect that needs specially attention during video
recording is the frame rate. The frame rate defines the time interval
between consecutive image frames captured by video camera. It is
normally defined by frame-per-second (fps) unit, and the recommended
and maximum values are determined by the video camera setting and
specification. In this study, the field measurement was conducted using
frame rate 30fps. After considering the Nyquist principle, this frame rate
should be adequate to capture vibration of an object with the natural
D.M. Siringoringo et al. Engineering Structures 244 (2021) 112728

Fig. 15. Mode-shapes of the light-poles identified from the proposed vision-based operational modal analysis. Light pole P1: (a) 1st mode, (b) 2nd mode, (c) 3rd
mode. Light pole P2: (d) 1st mode, (e) 2nd mode, (f) 3rd mode.

Table 2
Natural frequencies and damping ratios of the light-poles identified from video measurement using PVMM, DCSM and DMD Methods.
Pole No. Natural frequencies (Hz) Damping ratio (%) MAC

1st mode 2nd mode 3rd mode 1st mode 2nd mode 3rd mode 1st mode 2nd mode 3rd mode

P1 1.615 2.216 6.835 0.552 2.06 0.284 99.85 91.00 85.00

P2 1.579 3.249 6.257 0.734 0.931 0.288 99.80 90.00 78.00

frequency less than 15 Hz accurately. Therefore, one should carefully
consider the appropriate frame rate with respect to the natural fre­
quency of target object. The dominant natural frequencies of civil
structures are normally below 5 Hz. Predominant natural frequencies of
flexible structures such as light pole or stay cable are normally less than
3 Hz. Therefore, the current video camera with 30fps sampling rate is
adequate to capture vibration of the structure in its predominant vi­
bration modes. However, for the stiffer structures with frequency higher
than 15 Hz, the higher sampling rate should be considered. In some
cases, even the high-definition high-frequency video camera should be
used when natural frequency of the structure is even higher.
The structure discussed in this paper is a typical structure with low
damping and distinct or well-separated modes. These structural char­
acteristics enable modal identification by the proposed method because
the natural frequencies can be easily located and identified from the
spectra. Such characteristics are the preferable condition for imple­
mentation of the proposed method. Implementation on a structure with
closely spaced modes with high damping can be more challenging
because the peaks in the spectra that separate the modes become un­
clear. In such case, the modal selection from frequency spectra using
classical peak-picking method may not be adequate, and the more robust
identification method such as decomposition of the spectral density
function matrix [32] may be necessary. Further research is needed to
deal with the structure with such characteristics using the proposed
vision-based method.
5. Conclusion
Noncontact operational modal analysis of light pole by vision mea­
surement is described in this paper. The vision-based modal analysis is
performed by implementing phase-based video motion magnification
(PVMM) method to amplify micro-vibration of the structure, the dis­
cretized centroid searching method (DCSM) to extract spatial displace­
ment of the pole, and the dynamic mode decomposition (DMD) for
identification of modal parameters. The proposed method was experi­
mentally tested in a laboratory and implemented in the field

13
D.M. Siringoringo et al.
measurements on highway viaducts. Experimental verifications were
conducted using cantilever beam and the results confirm that the tech­
niques can effectively identify modal parameters of the structures
accurately event under small vibration amplitude. Comparison of the
results with measurement using laser doppler vibrometer have demon­
strated that displacement can be extracted from vision measurement
with good accuracy.
The full-scale implementation of the method was conducted to
identify modal parameters of the light poles on highway viaduct. The
results demonstrate that modal parameters identified from video mea­
surement are in good agreement with the results from vibration mea­
surement using laser Doppler vibrometer. In addition to identification of
frequencies and damping ratios, the DMD method allows for identifi­
cation of mode-shapes from spatial displacements. The practical
importance of the proposed method is that it allows for modal identifi­
cation of an object in a distant noncontact manner using a simple video
measurement under small amplitude of ambient excitation. The mea­
surement system is less expensive and relatively easier to operate
compared to other noncontact measurement systems, which is advan­
tageous for massive and frequent measurements of light poles on the
highway viaducts. Full-scale implementations have shown the prom­
ising results, and application of the method can be extended to other
structures for automatic noncontact assessment of spatially flexible
structures.
CRediT authorship contribution statement
Dionysius M. Siringoringo: Conceptualization, Investigation,
Methodology, Formal analysis, Writing - original draft. Samten
Wangchuk: Investigation, Formal analysis, Software, Writing - original
draft. Yozo Fujino: Writing - review & editing, Supervision.
Declaration of Competing Interest
The authors declare that they have no known competing financial
interests or personal relationships that could have appeared to influence
the work reported in this paper.
Acknowledgements
This research is supported by Kajima Foundation through a research
grant to the first author (PI: Dionysius M. Siringoringo). The support is
greatly acknowledged. Support of measurement device from Bridge and
Structure Laboratory, The University of Tokyo is also greatly acknowl­
edged. We also gratefully acknowledge the technical support and in­
formation of light poles material provided by Metropolitan Expressway
Co. Ltd. Findings, opinions and conclusions presented in this paper are of
the authors and not of the abovementioned institutions.
Appendix A. Supplementary material
Supplementary data to this article can be found online at https://doi.
org/10.1016/j.engstruct.2021.112728.
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