Urban redevelopment in densely populated areas often requires demolition and replacement of aging buildings. As buildings are replaced, existing foundation piles must be removed, leaving cylindrical voids that must be backfilled before the installation of new cast-in piles. However, with backfilled soil, it is difficult to achieve the same ground properties as the undisturbed original ground because of limited space, depth constraints and compaction issues. Strict construction schedules further limit sufficient backfill consolidation.