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Spatially continuous canopy height is a vital input for modeling forest structures and functioning. The global ecosystem dynamics investigation (GEDI) waveform can penetrate a canopy to precisely find the ground and measure canopy height, but it is spatially discontinuous over the earth’s surface. A common method to achieve wall-to-wall canopy height mapping is to integrate a set of field-measured canopy heights and spectral bands from optical and/or microwave remote sensing data as ancillary information. However, due partly to the saturation of spectral reflectance to canopy height, the product of this method may misrepresent canopy height. As a result, neither GEDI footprints nor interpolated maps using the common method can accurately produce spatially continuous canopy height maps alone. To address this issue, this study proposes a framework of point-surface fusion for canopy height mapping (FPSF-CH) that uses GEDI data to calibrate the initial wall-to-wall canopy height map derived from a sub-model of FPSF-CH. The effectiveness of the proposed FPSF-CH was validated by comparison to canopy heights derived from (1) a high-resolution canopy height model derived from airborne discrete point cloud lidar across three test sites, (2) a global canopy height product (GDAL RH95), and (3) the results of the FPSF-CH sub-model without fusing with the GEDI canopy height. The results showed that the RMSE and rRMSE of FPSF-CH were 3.82, 4.05, and 3.48 m, and 18.77, 16.24, and 13.81% across the three test sites, respectively. The FPSF-CH achieved improvement over GDAL RH95, with reductions in RMSE values of 1.28, 2.25, and 2.23 m, and reductions in rRMSE values of 6.29, 9.01, and 8.90% across the three test sites, respectively. Additionally, the better performance of the FPSF-CH compared with its sub-model further confirmed the effectiveness of integrating GEDI data for calibrating wall-to-wall canopy height mapping. The proposed FPSF-CH integrates GEDI LiDAR data to provide a new avenue for accurate wall-to-wall canopy height mapping critical to applications, such as estimations of biomass, biodiversity, and carbon stocks. Full article