Normally, these commercial software companies does not reveal the exact interpolation technique or the formula they implemented to derive various UAV products such as DSM, DTM. However, Pix4D mapper has clearly stated that they have implemented spatial interpolation algorithm to create the DSM (check this link: https://community.pix4d.com/t/dtm-interpolation/12000) and this algorithm explained (link: Conference Paper A Variational Approach to Semiautomatic Generation of Digita...
Pix 4d has two choices. IDW or Triangulation (https://support.pix4d.com/hc/en-us/articles/202557769-Menu-Process-Processing-Options-3-DSM-Orthomosaic-and-Index-DSM-and-Orthomosaic).