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Currently, the soundness of social infrastructure is confirmed through visual and sound inspections. However, these inspections are sensitive and difficult to perform and inexperienced inspectors may overlook them. Although camera-based inspection can examine wide areas simultaneously, they only examine the surface structures and not bridge components. Finite element method has been used to investigate the structural components by applying known vibrations and observing the frequency responses. Road bridges vibrate owing to traffic. The internal structure of road bridges can be investigated by measuring these vibrations. In this study, we propose a novel machine learning method that does not use a Fourier transform. Our method directly estimates vibration information from structural images by improving a transformer. We call this Vision Freqformer. Our method uses surveillance cameras to monitor road bridges. We assess the vibration estimation accuracy and robustness of the bit rate. Consequently, our method achieved an estimation accuracy exceeding 71.6 % in tests using vibration data from the damper equations and Z24 dataset simulations.<\/jats:p>","DOI":"10.1007\/s11760-025-04953-4","type":"journal-article","created":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T14:55:26Z","timestamp":1763391326000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Vision Freqformer for Vibration Monitoring using existing surveillance cameras"],"prefix":"10.1007","volume":"19","author":[{"given":"Tomonori","family":"Fukuta","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hiroshi","family":"Kawaguchi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,11,17]]},"reference":[{"key":"4953_CR1","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1016\/j.infrared.2013.03.006","volume":"60","author":"S Bagavathiappan","year":"2013","unstructured":"Bagavathiappan, S., Lahiri, B.B., Saravanan, T., Philip, J., Jayakumar, T.: Infrared thermography for condition monitoring - a review. 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