Abstract The paper compares four reference map building algorithms. The methods, evaluated using the parameters, integral mean square error, root mean squared error and the leave-one-out cross validation method, are verified in two scenarios. The results show that the co-Kriging interpolation algorithm has highest precision but is slowest, while standard Gaussian process regression has slightly lower precision but faster construction speed. Hence, co-Kriging algorithm is suitable for the high-precision system; while for the high real-time system, standard Gaussian process regression method suits best.
