Site modeling can be useful in various safety-enhancement applications and for as-built data acquisition. In this article, a rapid, on-site, spatial-modeling method using a “sparse point cloud” approach that represents construction sites in an efficient manner is proposed. The various procedures used in the modeling process are explained. The results of the experiments performed on actual construction sites are described, as are case studies of the modeling method per se. An example of the application of the proposed site modeling method to the simulation of obstacle-avoidance in the operation of equipment on an industrial construction project is also presented.