We admit to maybe using the word "canopy" a bit loosely here, however, this inflatable bed from designer Denis Santachiara is covered, and hence it has much more of canopy than any inflatable bed we've ever slept on. In fact, compared to your standard air mattress this thing looks quite luxurious indeed. And lest the size concern you, when deflated and folded up, it all fits neatly into a reasonably sized tote bag.
• An Inflatable, House-shaped Bed (in a bag!) for guests [Design Milk]