Research
Below is our research including grants, publications and awards since the lab started in 2021 (earlier works of PI are also available). To find articles and data, visit publisher’s site.
Research Topic
Aligned with Singapore’s Smart Nation Initiative, the concept of digital cities is gaining prominence. There is a growing momentum to harness automated, intelligent technologies for fast accurate reality capture and 3D modelling to support the analysis, assessment and optimisation of built spaces. As such, our research involves three areas:
Robotic 3D Mapping
Our first work integrates Multi-Agent Robotic System (MARS), with the aid of autonomous robots and LiDAR/image-based sensing, for efficient and accurate as-built data capture. This approach leverages unmanned quadruped and wheeled robots with LiDAR and SLAM algorithms, allowing optimal scan planning, semantic navigation and 3D mapping in GPS-denied environments.
Scan-to-BIM
Our second major work aims to develop Scan-to-BIM algorithms to transform scanned point clouds into BIM models. This work involves AI-based semantic instance segmentation and automated geometric modelling for buildings and infrastructures. Our work also addresses semantic enrichment of sensor metadata through machine learning.
Computational Modelling & Design
Our last work focuses on linking BIM and AI with computational design optimisation. This has led to BIM data model and graph neural networks for surrogate modelling and generative design. Further innovation is achieved through integration of deep learning with metaheuristics for structural optimisation.
Grants Awarded
[1] Principal Investigator, Automated reconstruction of as-built building information models using LiDAR and deep learning. S$212,380, 3.2023 – 2.2026.
[2] Principal Investigator, Towards coastal resilience in Singapore: Automated 3D reconstruction of coastal digital twins using robotic scanning. S$200,000, 3.2023 – 3.2026.
[3] Principal Investigator, Robotic scan planning technology for automated 3D digital reconstruction. S$95,000.
[4] Principal Investigator, AI-assisted scan-to-BIM technology for 3D reconstruction of infrastructure information models. S$704,996, 9.2023 – 2.2025.
[5] Principal Investigator, Artificial intelligence assisted Scan-to-BIM for existing buildings in A&A projects. S$170,000, 3.2020 – 2.2023 (PI since 5.2022).
[6] Principal Investigator, BIM and Internet of Things-driven multi-agent system for post-COVID facility operations and optimisation. S$179,925, 3.2021 – 9.2024.
[7] Principal Investigator, Predicting thermal comfort and energy performance of mixed-mode ventilation in buildings using building information modelling. HK$100,000, 2.2018 – 6.2019.
[8] Deputy Project Manager and Co-Investigator, Building information modelling-based rebar design optimisation and prefabrication automation. HK$1,071,800, 6.2019 – 12.2020.
[9] Principal Investigator, Pilot study for measurement of carbon emissions from construction activities and EC from residential development. S$35,000, 1.2022 – 9.2022.
[10] Principal Lecturer, Blended Learning 2.0 Project Cost Management. Blended Learning Module, S$87,925, 5.2022 – 3.2023.
[11] Co-Principal Investigator, Multi-agent system and integrated collaborative robots for targeted disinfection over 5G network for Post-COVID FM. S$180,000, 3.2022 – 4.2024.
[12] Co-Principal Investigator, 3T framework for mitigating challenges and enhancing digital twin implementation over 5G network for smart FM. S$179,000, 4.2022 – 3.2024.
[13] Co-Principal Investigator, Computer vision system to manage housekeeping on construction sites. S$65,000, 1.2025 – 12.2025.
[14] Co-Principal Investigator, Computer vision for housekeeping on construction site. S$529,794, 10.2022 – 4.2024.
[15] Co-Principal Investigator, Pilot study for measurement of carbon emissions from construction activities and EC from major construction materials.HK$150,000, 12.2017 – 6.2019.
[16] Co-Principal Investigator, Study on sustainable construction practices to reduce the carbon footprint of LPMit works. HK$176,000, 12.2017 – 9.2020.
Publications (Selected)
Patents and Invention Disclosures
Provisional Patents
[1] Li, K.X., Li, M.K., Gan, V.J.L., Knowledge Graph-based Building Information Models. NUS Invention Disclosure Reference: 2024-443-01; Singapore Patent Application No. 10202500432T. Filed 18 February 2025.
Software Invention Disclosures
[1] Li, K.X., Li, M.K., Gan, V.J.L., Scan2BIM: Automated 3D BIM Reconstruction with Deep Learning and Knowledge Graph. NUS Technology Transfer and Innovation Reference Number: 2024-443. Filed: 13 December 2024.
[2] Gan, V.J.L., Robotic Scan Planning Technology for Automated 3D Digital Reconstruction. NUS Technology Transfer and Innovation Reference Number: 2024-269. Filed: 12 August 2024.
[3] Li, M.K., Li, K.X., Zheng, Q., Li, X.Q., Gan, V.J.L., Point Cloud Semantic Instance Segmentation for High-Precision BIM Geometric Modelling and Calibration. NUS Technology Transfer and Innovation Reference Number: 2025-019. Filed: 8 January 2025.
[4] Goh, Y.M., Tian, J., Shao, Z., Gan, V.J.L., Sun, K., Computer Vision Monitoring System for Construction Housekeeping. NUS Technology Transfer and Innovation Reference Number: 2024-296. Filed: 30 August 2024.
Awards and Invitations
Research Awards
[1] Second Runner-Up (2024) Scan2BIM - Robotic scanning for automated 3D digital reconstruction. Awarded by NUS College of Design and Engineering, Impact Accelerator Challenge.
[2] openBIM/openGIS Grand Award (2022) openBIM-based design optimisation and prefabrication automation of steel reinforcement. Awarded by buildingSMART HK and Finalist of Professional Research 2023 by buildingSMART International.
[3] Structural Excellence Award (2020) Parametric modelling and evolutionary optimisation for cost-optimal and low-carbon design of high-rise reinforced concrete buildings (First Author). Awarded by Hong Kong Institution of Engineers.
[4] Best Paper Award (2020) Concrete reinforcement modelling with IFC for automated rebar fabrication (Corresponding Author). Awarded by International Conference on Construction Engineering and Project Management.
[5] Best Paper Award (2017) BIM-based methodology framework for sustainability analysis of low-carbon high-rise buildings (First Author). Awarded by International Conference on Construction Engineering and Project Management.
[6] Best Paper Award (2013) Developing an agent-based decision support system for construction waste management (First Author). Awarded by International Conference on Civil and Building Engineering Informatics.
Invited Speeches
[1] Digital twins, robotics, and automation for smart facilities management. Guest Lecture for UCL Course System Integration and Building Information Management. Bartlett School of Sustainable Construction, University College London. Feb 2025, London, UK.
[2] AI and robotics technologies for building information modelling, simulation and optimisation. Panel Speaker for Building and Simulation Conference. Tsinghua University. Nov 2024, Beijing, China.
[3] Artificial intelligence and robotics for building information modelling and optimisation. Panel Speaker for International Forum on Engineering Education & Tsinghua Design Science Conference. Tsinghua University and United Nations Educational, Scientific and Cultural Organization (UNESCO). Nov 2024, Beijing, China.
[4] openBIM-based generative design optimisation and precast construction. Keynote Speaker for Generative Design for Modular Building Forum. Faculty of Architecture, Hong Kong University. May 2023, Hong Kong, China.
[5] Digital twins, robotics, and automation for smart facilities management. Guest Lecture for UCL Course Management of Major Programmes with Digital. Bartlett School of Sustainable Construction, University College London. Feb 2023, London, UK.
[6] Platform approach to design, manufacturing, and assembly of industrialised modular buildings. Speaker for Systems Engineering and Innovation Industry Showcase. Institution of Civil Engineers and Imperial College London. Nov 2019, London, UK.