The planning of construction process is crucial for successful project management and based on which all other sub-tasks and activities follow. Labourintensive construction process which relies on field workers' own intuition and interpretation, has been too complicated to control, which can lead to mistakes, wasted time, and fatal accidents in worst but commonly happening cases. In this sense, applying innovative techniques to on-site construction process for construction planning, scheduling, operation, and monitoring has the potential to assist stakeholders in making better decisions. A head-mounted display (HMD) such as Oculus Rift can visualize construction processes information anytime whether during on-site work or beforehand by providing realistic augmented superimposed environment which is captured via the proposed 2-DOF stereo head. Moreover, by calculating the physical movement (translation, rotation) of building components, which can be accomplished by reading physical, material property data from Building Information Modeling (BIM), and combining it with computational kinematics model of on-site robotic equipment, the field workers can have the digital information for off-site component assembly in real-time manner. This research develops a new methodology for integration of tele-operation with 4D modelling in order to improve building component positioning and erection in terms of efficiency and quality by operating onsite robotic system intelligently. Based on the proposed methodology, an intelligent remotely operated, considering the control and video streaming processes, virtual tele-presence system is prototyped. The proposed system is designed for tele-operated construction robots and comprises a 2-DOF stereo head, a pair of high spatial resolution cameras, and a head mounted display with integrated head tracking mechanism. To validate the proposed methodology, controlled laboratory experiments were designed and implemented.