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Forest canopy height is one of the critical parameters for carbon sink estimation. Although spaceborne lidar data can obtain relatively high precision canopy height on discrete light spots, to obtain continuous canopy height, the integration of optical remote sensing image data is required to achieve “from discrete to continuous” extrapolation based on different prediction models (parametric model and non-parametric model). This study focuses on the Shangri-La area and seeks to assess the practical applicability of two predictive models under complex mountainous conditions, using a combination of active and passive remote sensing data from ICESat-2 and Sentinel-2. The research aims to enhance our understanding of the effectiveness of these models in addressing the unique challenges presented by mountainous terrain, including rugged topography, variable vegetation cover, and extreme weather conditions. Through this work, we hope to contribute to the development of improved geospatial prediction algorithms for mountainous regions worldwide. The results show the following: (1) the fitting effect of the selected parametric model (empirical function regression) is poor in the area of Quercus acutissima and Pinus yunnanensis; (2) evaluation of the importance of each explanatory variable in the non-parametric model (random forest regression) shows that topographic and meteorological factors play a dominant role in canopy height inversion; (3) when random forest regression is applied to the inversion of canopy height, there is often a problem of error accumulation, which is of particular concern to the Quercus acutissima and Pinus yunnanensis; (4) the random forest regression with the optimal features has relatively higher precision by comparing the inversion accuracy of canopy height data of the empirical function regression, random forest regression with all features, and random forest regression with the optimal features in the study area, i.e., R2 (coefficient of determination) = 0.865 and RMSE (root mean square error) = 3.184 m. In contrast, the poor estimation results reflected by the empirical function regression, mainly resulting from the lack of consideration of topographic and meteorological factors, are not applicable to the inversion of canopy height under complex topographic conditions.