Perception & State Estimation Engineer - DoorDash Air
Core
Develop perception and state estimation for an autonomous drone system used for package pickup and delivery.
Role type
Senior IC perception and state estimation engineer (autonomous robotics)
Builds
Autonomous drone delivery and pickup systems
Domain
Robotics, autonomous delivery, computer vision
Deliverable
production ML models
Required skills
State estimation and filtering (EKF, UKF, MSCKF, particle filters), Optimization-based methods (factor graphs, GTSAM, Ceres, SymForce), Visual-inertial odometry (VIO), Laser odometry (LIO), Modern computer vision (feature extraction, tracking, depth estimation), C++ and/or Rust, Embedded systems deployment, Linear algebra (matrix decompositions, sparsity exploitation)
Preferred skills
PX4 / ArduPilot EKF internals, Multi-body state estimation, SLAM in GPS-denied environments, Publications or open-source contributions in state estimation or VIO
Technologies
PX4, GTSAM, Ceres, SymForce, Python
Responsibilities
Tune and implement state estimation stack on drone, Design and execute flight test campaigns, Identify and resolve failure modes in estimation, Work closely with controls and planning to close the loop, Define sensing principles and sensor placement with hardware team, Derive EKF from scratch including observability analysis
Seniority
Senior, hands-on IC
