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Highlights  This paper proposes a new 'semantic registration' paradigm for reconstructing as-built BIMs from 3D point clouds.  This paper develops a derivative-free optimization approach as well as a BIM software plugin to realize the 'semantic registration' paradigm.  This paper employs two processes of surface sampling and voxelization for efficient estimation of geometric errors between a BIM and a point cloud in the derivative-free optimization approach.  The effectiveness and the sensitivity of the approach was validated using a noisy indoor furniture case (100% precision and recall, RMSE=3.87cm, in 0.8s per BIM component), and the scalability was tested in a lecture hall case with 293 chairs (over 80% precision and recall, RMSE = 8.1cm, in about 5.0s per BIM component).  The proposed 'semantic registration' paradigm is proven: (i) free from segmentation, (ii) capable of processing complex scenes, and (iii) reusing online open BIM resources.

Purpose The practice of facility management (FM) has been evolving with the rapid development of pervasive sensing technologies (PSTs) such as sensors, automatic identification (auto-ID), laser scanning and photogrammetry. Despite the proliferation of research on the use of PSTs for FM, a comprehensive review of such research is missing from the literature. This study aims to cover the knowledge void by examining the status quo and challenges of the selected PSTs with a focus on FM. Design/methodology/approach This paper reviewed 204 journal papers recounting cases of using PSTs for FM. The reviewed papers were extracted from Elsevier Scopus database using the advanced search. Findings Findings of this study revealed that PSTs and FM applications form a many-to-many mapping, i.e. one PST could facilitate many FM applications, and one application can also be supported by various PSTs. It is also found that energy modeling and management is the most referred purpose in FM to adopt PSTs, while space management, albeit important, received the least attention. Five challenges are identified, which include high investment on PSTs, data storage problem, absence of proper data exchange protocols for data interoperability, a lack of mature data processing methods for data utilization and privacy of users. Originality/value This paper paints a full picture of PSTs adoption for FM. It pinpoints the promising explorations for tackling the key challenges to future development.