Advanced Engineering Informatics 42 (2019) 101002

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Advanced Engineering Informatics

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Full length article

A method of automatic extraction of parameters of multi-LoD BIM models T

for typical components in wooden architectural-heritage structures
Haoyu Liua,b,c,d, Linlin Xiea,b, , Liwen Shia,c,d, Miaole Houa,c,d, Aiqun Lia,b,c, Yungang Hua,c,d
⁎

a
Beijing Advanced Innovation Center for Future Urban Design, Beijing University of Civil Engineering and Architecture, Beijing 100044, China
b
School of Civil and Transportation Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China
c
School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 100044, China
d
Key Laboratory for Architectural Heritage Fine Reconstruction & Health Monitoring, Beijing 100044, China

ARTICLE INFO ABSTRACT

Keywords: A building-information-modeling (BIM) model, which is established based on high-fidelity point-cloud data, can
Wooden architectural heritage be well used to preserve architectural heritage. Two related critical issues for this conservation are multiple-
Multi-LoD parametric BIM model level-of-detail (multi-LoD) parametric models that emphasize different protection requirements for typical
Automatic extraction method components, and a method for automatically extracting the corresponding parameters from a high-fidelity point
Point cloud
cloud. Taking typical Chinese wooden architectural-heritage structures as an example, multi-LoD principles for
typical components without damage are proposed according to the different requirements. Then, a framework of
multi-LoD parametric models was developed and implemented in BIM. Based on this, a method for automatically
extracting the abovementioned parameters is developed and the critical parameters of this method are re-
commended. To validate the reliability and efficiency of this method, the parameters of multi-LoD models of
typical components are extracted. The results indicate that the relative and absolute errors of values of such
parameters are mostly less than 2% and 0.5 mm, respectively. Moreover, this method is capable of extracting
parameters from millions of point-cloud data within 7 min, thus validating the high efficiency and reliability of
the proposed method.

1. Introduction digital model established by this technology must be capable of more

Wooden architectural heritage (WAH), as a typical type of archi-
tectural heritage worldwide, is considered, with its long history, various
architectural styles, and mature systems. It can significantly reflect the
cultural characteristics and advanced levels of construction technology
at different historical stages [1]. Hence, WAH usually has high histor-
ical, cultural, and scientific values. Among these, owing to their mag-
nificent appearance and high level of construction technology, Chinese
WAH is world-renowned with extremely high value. One example is the
Yingxian Wood Pagoda, which was constructed in 1506. It is 65.88 m
high and is the oldest and tallest ancient wooden building in China
[2,3]. The scientific conservation of such heritage has become a critical
issue.
Three-dimensional (3D) digital technology has become an im-
portant method for supporting WAH conservation, whether the struc-
ture is well preserved or has a certain degree of degradation [4]. This is
because such technology can document high-fidelity information. A 3D
intuitively illustrating the characteristic construction method as well as
historical and cultural values. Furthermore, the frequent update of
degrading structures should be considered, as it has become crucial for
architectural heritage to facilitate the evaluation and improvement of
its safety performance. Building Information Modeling (BIM) fully
meets the abovementioned requirement. Specifically, BIM is capable of
representing the architecture, as well as continuously updating the in-
formation [5–8]. Furthermore, a BIM model can be converted to a
numerical model, which can be used to evaluate and improve the safety
performance [9–11]. Hence, BIM can fundamentally be used, and has
been used, to protect architectural heritage; in this case, it is called
Historic Building Information Modeling (HBIM) [12,13].
The fundamental frameworks of BIM and HBIM are basically iden-
tical. Specifically, the entire building is discretized into standardized
components and subsequently represented with a multiple levels of
detail (multi-LoD) parametric model.
For multi-LoD, the component model with different levels of detail

⁎
Corresponding author at: Beijing Advanced Innovation Center for Future Urban Design, Beijing University of Civil Engineering and Architecture, #1 Zhanlanguan
Road, Beijing 100044, China.
E-mail address: xielinlin@bucea.edu.cn (L. Xie).

https://doi.org/10.1016/j.aei.2019.101002
Received 22 March 2019; Received in revised form 19 September 2019; Accepted 4 October 2019
1474-0346/ © 2019 Elsevier Ltd. All rights reserved.
H. Liu, et al.
is provided in BIM. These levels are selected according to their im-
portance and rendering difficulty [14]. Furthermore, the parametric
model may have different requirements in different conservation
phases. For example, a medium level of detail focused on structural
attributes is required in the seismic-performance assessment phase,
because the complicated and partial details (e.g., dimensions) of some
components are more for the architectural appearance and are there-
fore negligible at this stage. In contrast, a high level of detail with
emphasis on the architectural information may be required at the ar-
chitectural-appearance repair phase. Hence, a multi-LoD modeling
system is firstly required to support the different conservation re-
quirements.
In conjunction with the multi-LoD component model, a multi-LoD
parametric model should be implemented in HBIM. With this model, a
3D HBIM model can be efficiently established, and be modified/up-
dated to adapt to the continuous evolution of the WAH [5–7]. Mean-
while, such a model will facilitate the understanding of the inherent
architectural culture. Although Chinese WAH was constructed using
numerous components with complicated shapes, they were still as-
sembled using standardized components and a specific method. For
instance, the Chinese WAH constructed in the Liao and Song Dynasties
basically followed “Yingzao Fashi” [15], which is essentially a con-
struction regulation of the assembly rules and component specifica-
tions. The name of the component determines the corresponding shape
and the proportional relationship between the key parameters, while
the “Caifen Zhi” in “Yingzao Fashi” determines the absolute dimensions
of each component. A literature review indicates that Chinese WAH
components can be categorized into various standardized components
and meet the requirements of parametric models [16–18].
Despite the abovementioned advantages, BIM is mostly applied to
buildings under construction, rather than existing architectural heri-
tage, especially WAH. This is attributed to the following two reasons:
(1) The lack of appropriate multi-LoD parametric models for typical
Chinese WAH components. In comparison with traditional compo-
nents in modern structures, such components exhibit a significant
difference in configuration. HBIM has been more developed to a
certain extent and the connotation has been more scientifically
defined. The parameters correspond to the shape and key dimen-
sions of the components prescribed in the construction regulation,
e.g., “Yingzao Fashi”. Despite these efforts, the multi-LoD concept
has not been introduced into parametric models following different
conservation requirements. In addition, research efforts have been
mostly concentrated on masonry or stone architectural heritage
with regular shapes [19,20]. Research on multi-LoD parametric
models for the typical components of WAH is rarely reported. It is
also notable that a multi-LoD parametric model will also be re-
quired for the entire Dou-Gong, which is established based on the
parametric models of typical components.
(2) The lack of a high-efficiency method for automatically extracting
the parameters of multi-LoD BIM models. Parameter acquisition is
the foundation for establishing the model. The current trend is
advanced automation technology [21–26]. Owing to their high-fi-
delity and high-accuracy point-cloud data obtained with high effi-
ciency, laser-scanning technology is widely adopted for digital-in-
formation retention. However, the conversion from a massive point
cloud to a 3D model is still intricate and time-consuming. The au-
tomatic extraction of key parameters corresponding to a multi-LoD
parametric model is rarely reported and is an extremely challenging
task.
To address the abovementioned issues, taking the Chinese WAH
constructed in the Liao and Song Dynasties as an example, the stan-
dardized characteristics of typical components following “Yingzao
Fashi” are briefly introduced. Subsequently, the corresponding multi-
LoD principles are recommended, according to the different
2
Advanced Engineering Informatics 42 (2019) 101002
requirement levels, and the parameters are proposed for such typical
components. It is notable that only the components without damage
which are similar to newly manufactured components are currently
considered. The damage or degradation that exists in WAH is not
considered here, for the following two reasons. Firstly, the digital re-
presentation of typical damage modes, e.g., cracks and defects, is a
difficult task still under research. Secondly, the multi-LoD system can
be expanded to add the additional damage specifications in future.
Then, multi-LoD parametric models are conclusively recommended for
these typical components.
Based on this and high-fidelity point-cloud data, a method for au-
tomatically extracting the parameters of multi-LoD BIM models for ty-
pical WAH components is proposed. The influence of algorithm-critical
parameters on the accuracy and efficiency is discussed and the values of
such parameters are recommended. Furthermore, the efficiency and
reliability of the proposed method is validated through a series of tests
of typical components. Although obstruction issues exist in real en-
gineering practice, the automatic extraction method for the visible
parameters of parametric model for Dou-Gong can be further developed
based on the proposed method, and the invisible dimensions can be
deduced from the visible and extractable dimensions according to the
architectural knowledge which can be programmed. The research out-
comes will provide an important reference for the conservation of
wooden architectural-heritage structures.
2. Multi-LoD parametric model for Dou-Gong and its typical
components
It should be acknowledged that various types of WAH exist world-
wide with different architectural styles. A systematic classification of all
components is rather difficult. Furthermore, the critical issue in 3D
digitization of WAH is proposing a multi-LoD parametric-modeling
system with emphasis on different requirements, including the multi-
LoD principles and corresponding parameters, which will provide an
important reference for the conservation of WAH using HBIM. Hence,
Chinese WAH constructed in the Liao and Song Dynasties, which is
considered to be a mature system and to have an extremely high cul-
tural value, is selected to demonstrate the framework of the multi-LoD
parametric model.
The beams and columns in WAH can be represented using the multi-
LoD parametric models existing in BIM, while Dou-Gong is composed of
various special components. As the most distinctive component in
Chinese WAH, it requires a new multi-LoD parametric model.
Specifically, Dou-Gong is a transliteration of the Chinese pronunciation
and is also called “Puzuo”. It is composed of “Dou”, “Gong”, “Ang”, and
“Fang” elements, as shown in Fig. 1, with special configurations. Var-
ious types of Dou-Gong exist in Chinese WAH. For example, the Ying-
xian Wood Pagoda contains 480 Dou-Gong with 54 types [3]. Although
different configurations are observed for these Dou-Gong, they are still
composed of typical standardized components.
Hence, three typical Dou-Gong used in the Liao and Song Dynasties,
Fang
Gong
Ang
Puzuo
Dou
Fig. 1. Schematic diagram of a Dou-Gong.
H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

including Zhutou Puzuo, Bujian Puzuo, and Zhuanjiao Puzuo, are se-
1.Ludou
2.Nidaogong
3.Huagong of the first jump
4.Sandou
lected. The typical components in these Dou-Gong are then summarized
5.Jiaohudou
6.Zhutoufang of the first tier
and categorized. According to the different requirement levels, the
7.Huagong of the second jump corresponding multi-LoD principles are recommended for Dou-Gong
8.Zhutoufang of the second tier
9.Pingpandou and its typical components. The parameters are proposed for typical
components, based on “Yingzao Fashi.” Based on these, multi-LoD
10.Rufu
11.Linggong
12.Zhutoufang of the third tier
13.Guazigong
28 parametric models are conclusively recommended for these typical
14.Huagongtou
15.Suantingfang 20 components, and can be used to establish a multi-LoD model of Dou-
17
16.Pingqifang 26 27 21 15 Gong.
17.The first ang 24 25
18.Zhutoufang of the fourth tier 23 18 16
22 14
19.Mangong
20.The second ang 19
10
2.1. Multi-LoD principles for Dou-Gong and typical components
21.Luohanfang 11
22.Linggong 12
23.Shuatou 13
24.Qixindou
25.Timu 9
8
The overall diagram and disassembly diagram of the three selected
26.Chenfangtou
Dou-Gong are presented in Fig. 2, as well as the name and configuration
7
27.Liaoyanfang 5
28.Caorufu 4 6
3 of each component. The typical components in these Dou-Gong are
2
1 summarized and categorized into 27 types. The corresponding names
and configurations are presented in Table 1.
BIM recommends a variety of LoD, referred to as component grades.
These component grades have been widely used as guidelines to for-
(a) mulate and propose several alternative LoD [27–30]. In comparison
with the components in modern wooden structures, the above-
17 mentioned components in WAH exhibit significant differences in the
1.Ludou
2.Nidaogong
following two aspects: (1) the configuration and (2) the component-
3.Huagong of the first jump
16 15 14 13 connection method. These components are connected using mortise-
4.Sandou
5.Jiaohudou and-tenon work, rather than the steel connectors used in modern
6.Zhutoufang of the first tier
7.Guazigong 12 wooden structures. Hence, the multi-LoD principles should be devel-
8.Huagong of the second jump oped while considering the commonality and characteristics. Based on
9.Zhutoufang of the second tier
10.Mangong 11 10 9 this requirement, three LoD are proposed for Dou-Gong and its typical
11.Linggong
12.Huagong of the third jump
components, according to the different levels of requirements. The
13.Zhutoufang of the third tier 8 principles are presented as follows:
14.Sufang
15.Sufang
7
16. Sufang
17.Chutoumu 6
(1) LoD100: This LoD reflects the volumetric information of Dou-Gong
and its typical components for the basic requirements of the BIM
model, including the length, width, and height of the outer
5 4
3
bounding box, which strictly follows the existing principles in BIM.
2
(2) LoD200: This LoD concentrates on the information requirements for
1 a structural-safety performance assessment. The dimensions of the
connection details between components and other critical dimen-
(b) sions are essential for such assessments, and are therefore of most
concern [31]. The relatively complicated multi-segment outline,
which is more for the architectural appearance and has a negligible
effect on the performance, is not considered. In contrast, the simple
1.Ludou 14.Linggong
2.Jiaogong 15.Guazigong linear outline, which may affect the performance to a certain ex-
3.Xiehuagong 16.Mangong
4.Pingpandou 17.Xieshuatou 22 tent, is considered.
5.Jiaohudou
6.Xiehuagong
18.Xieshuatou
19.Liaoyanfang
20 25
24
(3) LoD300: This LoD includes the requirements for a high-fidelity re-
23
7.Guazigong
8.Guazigong
20.Liaoyanfang
21.Luohanfang
21 presentation of Dou-Gong and its typical components, which can
18 19
9.Jiaogong 22.Luohanfang demonstrate the inherent architectural culture and enable the
10.Xiehuagong 23.Zhutoufang
11.Xiehuagong 24.Sufang
15 safety performance based on a high-fidelity refined model. Hence,
12.Jiaogong 25.Chenfangtou 16
13.Guazigong 14 17 the multi-segment outline is implemented.
12 13
11
It is worth mentioning that the damage or degradation that usually
8
9
10
exists in WAH is not considered here, for the following two reasons.
6
7 Firstly, the digital representation of typical damage modes, e.g., cracks
4 5
and defects, is a difficult task still under research. Secondly, the multi-
2
3
LoD system can be expanded to add the additional damage specifica-
1 tions, and this information can also be updated in the current LoD300.
Based on the abovementioned principles, the schematic diagrams of
(c) the multi-LoD models are illustrated in Fig. 3. Owing to the length
limitations, only the schematic diagrams of four representatively ty-
Fig. 2. Overall diagram and disassembly diagram of three selected Dou-Gong; pical components, including Dou, Gong, Ang, and Fang, are presented
(a) Zhutou Puzuo; (b) Bujian Puzuo; (c) Zhuanjiao Puzuo. in Table 2. Note that the LoD200 and LoD300 models of the entire Dou-
Gong are composed of the LoD200 and LoD300 models of the typical
components.

3
H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

Table 1
Typical components in three types of Dou-Gong.

Schematic Schematic
Name Name Name Schematic diagram
diagram diagram

Ludou Guazigong Liaoyanfang

Sandou Mangong Shuatou

Jiaohudou Jiaogong Xieshuatou

Qixindou Ang Chenfangtou

Pingpandou Sufang Huagongtou

Nidaogong Zhutoufang Caorufu

Huagong Suantingfang Chutoumu

Linggong Pingqifang Rufu

Xiehuagong Luohanfang Timu

2.2. Multi-LoD parametric models for typical components
A typical component, Nidaogong, as shown in Table 2, is used to
demonstrate the fundamental idea of multi-LoD parametric models.
(1) LoD100: An outer bounding box with a length (b), width (t), and
height (h) is used to define this model. The parameters to be defined
are b, t, and h.
(2) LoD200: A notch is carved in the middle of the length direction to
connect with the adjacent component. The required parameters
include two dimensions along the length and height directions,
which are designated with two variables (i.e., b1 and h1, as shown in
Table 2). The other dimensions can be calculated using the para-
meters of LoD100.
(3) LoD300: A beautiful border, called “Juansha”, should be re-
presented. To manufacture a “Juansha,” the end of the Nidaogong is
firstly divided into the same number of parts (noted as variable m
hereafter) along the height and length directions, as shown in
Fig. 4a. The length and height of “Juansha” are two parameters of
LoD300, and denoted as b2 and h2, respectively. Then, m points are
assigned and numbered along the length and height directions.
Specifically, the nodes along the length direction are numbered
from m (red point shown in Fig. 4a) to 1, while the nodes along the
height direction are numbered from 1 (blue point shown in Fig. 4a)
to m.
The ith point in the height direction and the ith point in the length
direction are connected using a straight line. m-minus-one points of
intersection (black points shown in Fig. 4a) can be obtained according
to the two adjacent straight lines. In combination with the two end-
points of “Juansha” (i.e., point m in the length direction and point 1 in
the height direction), the outline of “Juansha” is determined and pre-
sented in multiple linear segments.
To obtain the parameters of the multi-LoD model, several char-
acteristic points must be detected. Because significant sectional char-
acteristics are exhibited for the typical components in WAH, only the
points on the characteristic surface should be detected. The character-
istic points of Nidaogong are schematically presented in Fig. 4b. With
these points, the parameters of the multi-LoD parametric models can be
calculated. Furthermore, the multi-LoD models are implemented in BIM
software (i.e., Revit) using “family” models, which are parametric
models, as shown in Fig. 4c–e. Thus, the model can conveniently be
established and modified.
3. A method for automatically extracting the parameters of multi-
LoD BIM models based on point-cloud data
As mentioned above, a critical issue for the 3D digitization of WAH
is the automatic acquisition of the parameters corresponding to dif-
ferent LoD models, based on massive point-cloud data. Specifically, the
amount of point-cloud data obtained by 3D laser-scanning technology is
usually enormous. Manual or semiautomatic methods are commonly
used to establish 3D models based on point-cloud data. However, the
established model is usually a triangulation model, which still contains

4
H. Liu, et al.
(b)
(d)
(a) (f)
Fig. 3. Multi-LoD models for Dou-Gong: (a) LoD100; (b) LoD200 for Zhutou Puzuo; (c) LoD300 for Zhutou Puzuo; (d) LoD200 for Bujian Puzuo; (e) LoD300 for Bujian
Puzuo; (f) LoD200 for Zhuanjiao Puzuo; (g) LoD300 for Zhuanjiao Puzuo.
miscellaneous information. If the characteristic parameters of multi-
LoD models can be extracted from the point-cloud data, the above-
mentioned parametric model with dozens of parameters will be more
convenient and practical for establishing BIM models. A manual
method definitely can be used to extract such parameters, but an ex-
tremely low efficiency is expected, and it is herein unfavorable for the
continuous protection of WAH. Owing to these facts, a method is re-
quired for automatically extracting the parameters of multi-LoD BIM
models based on point-cloud data.
It is noted that developing an extraction method for a real WAH, or
even a Dou-Gong, is an extremely challenging task. Hence, this research
mostly focuses on developing an automatic extraction method at the
component level; it is expected to be further developed to meet actual
engineering requirements. In the following section, the framework of
the proposed method is introduced step by step. Subsequently, the al-
gorithm of each step and the key parameters are introduced in detail.
Table 2
Multi-LoD models for typical components.
5
Advanced Engineering Informatics 42 (2019) 101002
(c)
(e)
(g)
3.1. Framework of the proposed method
The overall framework of the proposed method is schematically il-
lustrated in Fig. 5. A brief introduction of the overall framework is
presented step by step, with emphasis on the fundamental concept of
each step, as follows:
(1) Step 1: Volume to slice. A point-cloud slicing algorithm is adopted
to transform the scattered volumetric points to layered slices, which
aim to obtain the typical cross-sectional characteristics of the key
components. Specifically, a series of flaky point clouds is extracted
from the volumetric point cloud, which will be beneficial for in-
creasing the accuracy and efficiency of the following outline ex-
traction.
(2) Step 2: Slice to outline. An outline-extraction algorithm is applied to
the flaky point cloud to extract the contour features, which
H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

multi-LoD BIM models. This algorithm basically relies on the geo-

1 metric relationships between the characteristic points of the out-
2
line.
h2 (4) Step 4: Characteristic points to parameters. An algorithm for ex-
m-1
tracting the characteristic parameters of multi-LoD models is pro-
m
posed to calculate the dimensions of the key components. It is no-
m m-1 2 1 table that the parameters required for LoD100, LoD200, and
b2 LoD300 are different. Hence, this algorithm is designed with three
levels to extract the parameters of the three LoD.
(a)
1 3.2. Point-cloud slicing algorithm
2 7
4 8 It is well acknowledged that point-cloud data are obtained with a
3 high sampling density, and the corresponding quality can be affected by
5 6 9 the environment and acquisition system. The direct extraction of
parameters from the original point cloud is usually not recommended
10 because it will affect the accuracy and efficiency of the algorithm.
Hence, manual processing is generally conducted, and is also adopted
(b) here, including point-cloud denoising, registration, resampling, and
coordinate transformation. The direction of the smallest size is defined
as the y-axis. It can be observed in Table 1 that each component exhibits
typical cross-sectional characteristics. Hence, the introduction of a sli-
cing algorithm can accurately reflect such characteristics, thereby ef-
fectively improving the efficiencies of the outline extraction and char-
acteristic-point detection.
A point-cloud slicing algorithm based on a projection plane is
adopted here, owing to its high accuracy and efficiency [32]. A point
cloud within a certain thickness is selected and projected onto the
central plane; thus, slicing the point cloud. Specifically, one reference
axis normal to the slicing plane (e.g., the y axis, as shown in Fig. 6) is
firstly selected according to the characteristics of the specific compo-
nents. Then, the corresponding maximum (i.e., ymax) and minimum
(i.e., ymin) values of the coordinates of all point clouds along the re-
ference axis are obtained, to determine the slicing spacing (i.e., s) using
the following equation:
(c) s = |ymax ymin |/N , (1)
in which N denotes the number of flaky point clouds sliced from the
volumetric point cloud. Subsequently, N-minus-one projection planes
with an identical spacing (i.e., s) and N groups of point-cloud data are
generated, as shown in Fig. 6. s is the critical parameter of this algo-
rithm.

3.3. Outline-extraction algorithm

An enormous amount of data remains in the flaky point cloud sliced

(d)
Fig. 4. Detailed information of multi-LoD models for Nidaogong: (a) shape of
“Juansha”; (b) characteristic points; (c) LoD100 model; (d) LoD200 model; (e)
LoD300 model.
represent the contours of the key components. The outline point
cloud can lay a foundation for the further extraction of character-
istic points.
(3) Step 3: Outline to characteristic points. A characteristic-point de-
tection algorithm is adopted to detect the characteristic points,
which will be used to calculate the characteristic parameters of the
from the volumetric point cloud; hence, the outline containing the
characteristic points must be further extracted. It is notable that a sig-
nificant difference exists between the points on the outline and the
internal points, which can be used to identify and extract the outline.
Specifically, for the points on the outline, there exists at least one side of
the neighborhood that does not contain point-cloud data, leading to a
non-uniform distribution of the point cloud. In contrast, a relatively
uniform distribution can be observed in the neighborhood of an internal
point. Hence, based on the judgment of the distribution density of the
point-cloud data in the neighborhood of the point, the points on the
outline, as well as the outline, can be extracted.
To extract the outline, a traditional method can be adopted [33].
Specifically, the flaky point cloud is directly judged, which means all
points included in the slice are traversed. The distribution density of
each point is individually calculated, leading to an extremely low effi-
ciency. In addition, the points on the outline usually overlap, which
affects the extraction accuracy to a certain extent. To address these
issues, an outline-extraction algorithm based on point-cloud clustering
is adopted, in which the point-cloud data are firstly reorganized using
the K-D tree method [34]. The point cloud is clustered before

6
H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

Fig. 4. (continued)

Point cloud data volume The fundamental procedures of this algorithm are schematically pre-
sented in Fig. 7 and demonstrated as follows:

Slicing algorithm of (a) An index relationship is established using the K-D tree method and
point cloud slice the point cloud is clustered.
(b) The normal vector of each point is calculated and used to construct
a least-square plane. The point and its k neighboring points are
Algorithm for contour-
line projected onto this plane. Through this, the angle (i.e., β) between
line extraction
the normal vectors of a point and neighboring points is calculated.
1 2 3
Subsequently, the maximum angle difference between continuous
0
Keypoints detection 4 points angles is calculated.
5
algorithm 6 7 89 (c) A threshold with a value of π/4, obtained through a series of tests, is
introduced for the maximum angle difference. All points are tra-
versed after the point-cloud clustering. If the maximum angle dif-
Extraction algorithm of ference is greater than the specified threshold, the point belongs to
Parameter values size
salient geometric features the outline; otherwise, it is identified as an internal node. The
parameters
points on the outline are conclusively identified and stored as a new
Fig. 5. Overall framework. object, i.e., the outline.

3.4. Characteristic-point detection algorithm

calculating the distribution density. Hence, the points on the outline
remain while the interference points are eliminated. These can sig-
When obtaining the parameters of multi-LoD models, the char-
nificantly improve the accuracy and efficiency of the outline extraction.
acteristic points are usually corner points on the outline and require

y Reference axis

z –1 s
z 2 central
plane

x y
z y projection plane

Preprocessing
x x Slices
Slicing process based on projection plane

Fig. 6. Schematic diagram of the slicing algorithm based on point cloud.

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H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

β K1 x
K2

Point cloud clustering Judgement of density Outline

Fig. 7. Schematic diagram of the outline extraction algorithm.

1 6 2 as shown in Fig. 8).

4 nated. To achieve this, the angle between the two direction vectors of
7 3
8 degrees is recommended, after a series of tests. If this angle is greater
9
5 than the threshold (e.g., the angle between vector 41 and vector 16,
Characteristic point
Interfering point: Type 1
Interfering point: Type 2
Fig. 8. Schematic diagram of the characteristic points and interfering points.
further identification, indicating that a characteristic-point detection
algorithm should be introduced. A 3D Harris method is expanded from
the traditional 2D Harris method and adopted to extract the char-
acteristic points (i.e., usually referred to as points of interest). This is
attributed to the fact that this method is robust to changes in the atti-
tude of the object and is basically immune to ratios [35]. The 3D Harris
method follows the fundamental idea of the 2D Harris method, but it
uses the surface normal instead of the image grayscale. The basic idea
of 3D Harris method is to use a fixed window to slide in any direction of
the model and compare the number of point clouds in the window
before and after sliding. (1) If the window is internal, the number of
window point clouds does not change when it moves in any direction.
(2) If the window is on the edge, the number of point clouds is almost
unchanged when moving along the edge direction, while the number of
point clouds changes when moving along the vertical direction. (3) If
the window is at the corner, the number of point clouds will be greatly
changed in all directions. Therefore, if the number of point clouds
varies greatly in any direction, the corner points can be identified.
In addition, a series of tests indicates that interfering points may be
identified during the process, which are the points between character-
istic points and should be eliminated before extracting the character-
istic parameters. Two types of such points are usually observed, in-
cluding interfering points on an expected linear outline (i.e., type 1, as
shown in Fig. 8) and the points on a multi-segment outline (i.e., type 2,
For type 1, the interfering points is extracted because an ideal linear
outline cannot be perfectly manufactured and can be directly elimi-
three continuous points is calculated, and a threshold with a value of 5
shown in Fig. 8), the middle point (e.g., 1 in Fig. 8) of the three con-
tinuous points (e.g., 4, 1, and 6 in Fig. 8) is a characteristic point and is
herein reserved. In contrast, if the angle is less than the threshold, the
middle point (e.g., point 6 in Fig. 8) is identified as an interfering points
and eliminated.
For type 2, the points should be further processed to obtain two
characteristic points and the parameter m in the “Juansha”. As men-
tioned above, m-minus-one inflection points exist on such a multi-seg-
ment outline. The angle between two direction vectors of three con-
tinuous points will significantly change m-plus-one times, including two
characteristic points (e.g., points 4 and 5 in Fig. 8) and m-minus-one
inflection points (e.g., points 7, 8, and 9 in Fig. 8). According to this
characteristic, these points can be further extracted; then, m can be
calculated and used to describe the multi-segment outline. Subse-
quently, the starting and ending points are reserved as characteristic
points, while the interfering points are eliminated.
The fundamental procedures of this algorithm are schematically
presented in Fig. 9. The search radius (denoted “sr”) of the fixed
window in Fig. 9 is the critical parameter of this algorithm.
3.5. Algorithm for extracting the characteristic parameters of multi-LoD
models
Based on the characteristic points, the characteristic parameters of
multi-LoD models can be determined according to the geometric re-
lationship. The extraction algorithm is designed with three levels to
extract the parameters of LoD100, LoD200, and LoD300.
(a) Parameters of the LoD100 model
The parameters of LoD100 demonstrate the volumetric information
of the components, including the length (b), width (t), and height (h) of

Fixed window
Normal direction
z 1 2 7 8
y
p 4 9
sr x 3 6
5 10
a. Flat region b. Edge line c. Corner point
Outline Characteristic points
Fig. 9. Schematic diagram of the characteristic point detection algorithm.

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H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

o x 1
y1
y 2
h2 y2 h2
b h1 m-1
b2 ym-1 m
t b1 ym
h
Right angle m m-1 2 1
Characteristic points
Calculated inflection points b2

(a) (b) (c)

Fig. 10. Schematic diagram of parameters of multi-LoD models: (a) LoD100; (b) LoD200; (c) LoD300.

Fig. 11. Test specimens: (a) Song style Dou-Gong; (b) Ludou; (c) Nidaogong.

Table 3 Table 4
Expected and reference values of all parameters. Information of the used computer.
Specimen Parameter Expected value/mm Reference value/mm Information Parameter

Nidaogong t 20 20.55 Processor Intel(R) Xeon(R) CPU E5-1603 v3

b 144 143.73 Memory 12 GB
h 30 29.85 Operating system 64 bit Windows7
h1 20 20.27
b1 16 16.12
h2 20 19.90 b = ymax ymin
b2 20 20.43
t = x max x min
Ludou t 64 63.59
b 64 64.08
h = zmax zmin (2)
h 40 39.86
t1 20 19.92
b1 50 47.41
(b) Parameters of the LoD200 model
h1 16 15.92
t2 50 46.80 LoD200 concentrates on the information requirements for a struc-
h2 16 15.62 tural-safety performance assessment and a simple linear outline is
t3 6 5.91
considered. The associated parameters are calculated according to the
h3 8 7.76
characteristic points. The original outline can be linear or multi-seg-
ment, as identified in the characteristic-point detection algorithm.
For the first case, the corresponding parameters are mostly internal-
the outer bounding box. An introspective sorting algorithm is adopted connection dimensions (e.g., b1 and h1, as shown in Fig. 10b). These
to obtain the maximum and minimum coordinate values in each di- parameters are the distance between associated characteristic points,
rection [36]. The corresponding parameters are calculated according to which were obtained from the characteristic-point detection algorithm.
Eq. (2). For the second case, the multi-segment outline is simplified to a

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H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

Fig. 12. Influence of slicing spacing on the extraction of flaky point cloud.; (a) s = 0.2 mm; (b) s = 0.5 mm; (c) s = 1 mm; (d) s = 2 mm.

(a) (b)

(c) (d)
Characteristic point Interfering point: Type 1 Interfering point: Type 2
Fig. 13. Influence of sr on the extraction of characteristic points: (a) sr = 1 mm; (b) sr = 4 mm; (c) sr = 7 mm; (d) sr = 10 mm.

Table 5
Extraction results and accuracy of Nidaogong.
Level Schematic diagram Parameter Reference value/mm Tested value/mm Absolute error/mm Relative error

LoD100 t 20.55 20.9004 0.3504 1.71%

b b 143.73 144.0640 0.334 0.23%
t h 29.85 30.0934 0.2434 0.82%
h

LoD200 h1 20.27 19.9685 0.3015 1.49%

b1 16.12 16.0946 0.0254 0.16%
h1
b1

LoD300 h2 19.90 20.1419 0.2419 1.22%

h2 b2 20.43 20.7728 0.3428 1.68%
b2

right angle, as shown in Fig. 10. Because of this, the associated region
has not been modified in comparison with that of the LoD100 model,
and no additional parameter is required.

(c) Parameters of the LoD300 model

LoD300 demonstrates the inherent architectural culture and enables

Fig. 14. Results of three-dimensional deviation analysis for Nidaogong.
the safety performance based on a high-fidelity refined model. The
multi-segment outline is generally concerned and must be represented.
Basically, the multi-segment outline follows the rules specified in
“Yingzao Fashi,” which was illustrated in Section 2.2. The parameters
to be extracted are the length (b2) and height (h2) of “Juansha,” as

Table 6
Indices of three-dimensional deviation analysis for Nidaogong.
Components Maximum deviation/mm Average deviation/mm Standard deviation/mm RMS estimate/mm

Nidaogong 1.1387/−1.7328 −0.0934 0.4187 0.4281

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H. Liu, et al. Advanced Engineering Informatics 42 (2019) 101002

Table 7
Extraction results and accuracy of Ludou.
Level Schematic diagram Parameter Reference value/mm Tested value/mm Absolute error/mm Relative error

LoD100 t 63.59 64.0978 0.5078 0.80%

b 64.08 64.9391 0.8591 1.34%
t b
h 39.86 40.3359 0.4759 1.19%

LoD200 & LoD300 t1 19.92 19.8882 0.0318 0.16%

b1 47.41 47.3388 0.0712 0.15%
t3
h1 15.92 16.1406 0.2206 1.39%
h1 h3
t2 46.80 46.3356 0.4644 0.99%
t1 h2 h2 15.62 15.8713 0.2513 1.61%
t2 b1 t3 5.91 6.0151 0.1051 1.78%
h3 7.76 7.5155 0.2445 3.15%

results.
Note that reference values are required for the calibration and va-
lidation. Because the maximum value of all parameters is expected to be
less than 150 mm, a Vernier caliper (i.e., Pro’skit PD-151) with accep-
table accuracy was adopted to obtain the reference values. The ex-
pected and reference values of the two specimens are presented in
Table 3. The corresponding point-cloud data with a density of 0.2 mm
were acquired using the FARO Edge ScanArm laser scanner. The
numbers of points are 4,654,940 and 3,762,778 for Ludou and Nidao-
gong, respectively. Information regarding the computer system is pre-
sented in Table 4.

4.1. Calibration of the critical parameters of the proposed method

Fig. 15. Results of three-dimensional deviation analysis for Ludou.

(a) Critical parameter of the point-cloud slicing algorithm

shown in Fig. 10c. For example, h2 is h in LoD100, minus the distance
between two characteristic points (i.e., points 1 and 4, as shown in
Fig. 8).
In addition, m-minus-one calculated inflection points, in which m
denotes the number of segments of “Juansha” obtained in the char-
acteristic-point detection algorithm, must be determined. To achieve
this, a local coordinate system, as shown in Fig. 10c, is adopted. The
functions of each linear segment of the polyline (yi) are established
using Eq. (3). Then, the jth calculated inflection point can be calculated
as the intersection of yj and yj+1.
x 1
yi = (m i + 1) h2 + , i = 1, 2, ···,m
ib2 m (3)
4. Calibration and validation
Using the Visual Studio 2013 development environment, the pro-
posed method was programmed using the C++ language in combi-
nation with the PCL1.7.2 point-cloud library. To calibrate the critical
parameters and validate the reliability of the proposed method, a Song-
style Dou-Gong with 25 components, as shown in Fig. 11a, was man-
ufactured according to “Yingzao Fashi” [15], and a basic unit of “Fen”
with a value of 2 mm was adopted. The Nidaogong shown in Fig. 11c
was selected to calibrate the critical parameters, while the other com-
ponents were used for validation. Owing to the length limitations,
Ludou, shown in Fig. 11b, was used to demonstrate the validation
The slicing spacing (i.e., s) highly affects the accuracy of the point-
cloud slicing algorithm. A series of s values are adopted to determine
the value, including 0.2 mm (i.e., density of the volumetric point
cloud), 0.5 mm, 1 mm, and 2 mm (i.e., a basic unit of “Fen”). The cor-
responding extracted flaky point clouds are compared and presented in
Fig. 12. The wall-clock times for the different slicing spacings range
from 57.19 s to 65.64 s, indicating that the slicing spacing has a negli-
gible influence on the efficiency of this algorithm. In contrast, the sli-
cing spacing significantly affects the accuracy. Specifically, when
0.2 mm is adopted, the sectional characteristics of the key components
cannot be reflected. A s with a value no less than 0.5 mm yields a good
flaky point cloud. Note that the number of points in the extracted flaky
point cloud becomes stable when s reaches 1 mm, which is five times
the point-cloud density. Hence, the slicing spacing is recommended to
be five times the point-cloud density.
(b) Critical parameter of the characteristic-point detection algorithm
The search radius (i.e., sr) is the critical parameter of the char-
acteristic-point detection algorithm. Four values are adopted here, in-
cluding 1 mm, 4 mm, 7 mm, and 10 mm. The characteristic points, as
well as two types of eliminated intermediate points, are extracted using
this algorithm and presented in Fig. 13. The results indicate that the
characteristic points and number of “Juansha” segments are identical
when sr is 1 mm and 4 mm. In contrast, several characteristic points are
not extracted when sr reaches 7 mm and “Juansha” cannot be correctly
identified. Thus, a search radius of no more than 4 mm can be used.

Table 8
Indices of three-dimensional deviation analysis for Ludou.
Components Maximum deviation/mm Average deviation/mm Standard deviation/mm RMS estimate/mm

Ludou 1.7761/−1.1033 −0.0207 0.4613 0.4618

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H. Liu, et al.
Note that the wall-clock times are 3.322 s and 4.399 s when sr is 1 mm
and 4 mm, respectively, indicating a relatively small difference in the
efficiency. Hence, the value of the search radius is recommended to be
1 mm.
For Nidaogong, the parameters of the multi-LoD models are ex-
tracted using the proposed method. The recommended values for the
critical parameters of this method were adopted. The parameters values
of the multi-LoD models for the components are presented and com-
pared with the reference values in Table 5. It is notable that the abso-
lute error and corresponding relative error of each parameter of the
multi-LoD models are lower than 0.5 mm and 2%, respectively. In ad-
dition, the wall-clock time is 170.352 s (~2 min, 50 s) for extracting the
parameters. A good accuracy and high efficiency are achieved for the
proposed method and calibrated parameters.
Furthermore, the LoD300 BIM model was established using the
corresponding parameters. A three-dimensional deviation analysis was
conducted between the BIM model and the original point cloud, and the
results are presented in Fig. 14. The corresponding maximum deviation,
average deviation, standard deviation, and root mean square (RMS)
estimate are presented in Table 6. The deviation is small overall, even
negligible; thus, validating the feasibility and reliability of the proposed
parametric model and automatic-extraction method.
4.2. Validation of the proposed method
To validate the reliability and efficiency of the proposed method,
the parameter values of the multi-LoD models for Ludou were also
extracted, presented, and compared with the reference values in
Table 7. The absolute error and correspondingly relative error of each
parameter of the multi-LoD model are mostly lower than 0.5 mm and
2%, respectively. A notable relative error with a value of 3.15% was
observed for a local small dimension, while the absolute error is
0.2445 mm, which is considered acceptable. The wall-clock time is
374.137 s (~6 min, 14 s). A good accuracy and high efficiency are also
achieved.
The LoD300 BIM model was also established and the three-dimen-
sional deviation analysis was also conducted, as shown in Fig. 15. The
corresponding maximum deviation, average deviation, standard de-
viation, and RMS estimate are presented in Table 8. The deviation is
small overall, even negligible. The results of the some other components
can be found in [37]. The relative and absolute errors of the parameters
of the multi-LoD models are all less than 3.5% and 1 mm, respectively.
In addition, the wall-clock times are all less than 7 min.
Based on the above discussion, the reliability and efficiency of the
proposed method are validated. The feasibility and reliability of the
proposed parametric model, automatic extraction method, and asso-
ciated parameters are also validated.
5. Conclusions
A framework of multi-LoD parametric models for typical compo-
nents without damage, as well as a method for automatically extracting
the corresponding parameters from a high-fidelity point cloud, are two
critical issues in the continuous protection of WAH using BIM.
Taking the Chinese WAH constructed in the Liao and Song Dynasties
as an example, multi-LoD principles were recommended according to
the different requirement levels, and parameters were proposed for
such typical components. Based on these, multi-LoD parametric-model
frameworks were conclusively recommended for these typical compo-
nents and implemented in BIM.
A method for automatically extracting the parameters of the multi-
LoD BIM models for typical components was proposed. The critical
parameters of the proposed method were calibrated and recommended.
To validate the reliability and high efficiency of this method, the
parameters of the multi-LoD models of typical key components were
extracted using the proposed method. The results indicated that the
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Advanced Engineering Informatics 42 (2019) 101002
relative and absolute errors of such parameter values were mostly less
than 2% and 0.5 mm, respectively. In addition, this method was capable
of extracting parameters from millions of point-cloud data within
7 min; thus, validating the high efficiency and reliability of the pro-
posed method.
It should be recognized that the real condition of WAH is extremely
complicated, especially the damage and complicated connection of
various components. Further improvement of the multi-LoD models and
extracting methods are required to be conducted. For the multi-LoD
models, further improvements are required for the damaged compo-
nents and parameteric models for Dou-Gong are required to be devel-
oped. For the extracting method, the automatic extraction method is
required to be further developed for the Dou-Gong rather than a com-
ponent, which will be more practical for real engineering practice.
Despite these limitations, research on these two issues is important and
rarely conducted [11]. The method can currently be used for the fall
repair (i.e., wooden heritage is disassembled and each component is
taken out for the repair purpose). The research outcomes will also
provide important references for the historical-data digitalization of
wooden architectural-heritage structures.
Declaration of Competing Interest
The authors declared that they have no conflicts of interest to this
work.
Acknowledgements
The authors are grateful for the financial support received from the
Beijing Advanced Innovation Center for Future Urban Design (No.
UDC2016030200), the Project of Construction of Innovation Teams and
Teacher Career Development for Universities and Colleges under
Beijing Municipality (IDHT20170508) and Great Wall Scholars
Training Program Project of Beijing Municipality Universities (CIT&
TCD20180322).
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