Abstract: The important application of full-waveform LiDAR technology is to obtain high-precision DEM by making use of waveform data. The weighted curve fitting filtering method is proposed fusing waveform information. Discrete point cloud and waveform parameters are resolved by using global convergent LM. The waveform information and robust estimation theory are introduced to detect abnormal seed points. Then, the terrain curve is fitted according to waveform parameters. And the self-adaptive height difference threshold is determined in consideration of the window size and mean square error. The waveform data in urban, farmland and mountain areas from "WATER (watershed allied telemetry experimental research)" are selected for experiments. Experimental results prove that compared with traditional method, waveform decomposition results from proposed method are more reliable, the accuracy of point cloud filtering is further improved and the proposed method has highly practical value.