A geospatial modeling system (30) may include a geospatial model database (31) and a processor (32) cooperating with the geospatial model database. The processor (32) may be configured to determine void regions (61) in a geospatial data set including foliage data points and bare earth data points, where each void region has a boundary and at least one bare earth data point therein. The processor (32) may also be configured to inpaint additional bare earth data points into each void region (61) based upon bare earth data points outside the boundary and the at least one bare earth data point therein.