We're hiring a State Estimation & Perception Engineer in our Autonomy Software team. In this role, you'll own and develop the perception and state estimation for our package pickup and delivery system. You'll influence system design decisions, including sensor selection, sensing architecture, and observability analysis, at the earliest stage when choices still matter.

You're excited about this opportunity because you will...

Play an integral role on a small and focused team

Own tuning and implementation of the state estimation stack on the drone (PX4 EKF modifications, fault tolerance, multi-sensor fusion with VIO and laser odometry)

Own state estimation and perception of the delivery mechanism, including dynamics modeling, observation model design, and sensor selection

Work closely with controls and planning to close the loop on automated pickup and delivery

Work closely with the hardware team to define sensing principles and sensor placement

Design and execute flight test campaigns to validate estimator performance

Identify and resolve failure modes in estimation (degenerate geometries, sensor dropout, initialization)

We're excited about you because...

You have deep experience with state estimation and filtering (EKF, UKF, MSCKF, particle filters)

You have experience with optimization-based methods (factor graphs, GTSAM, Ceres, SymForce)

Perception & State Estimation Engineer - DoorDash Air

Responsibilities

Qualification

Required

Preferred

Benefits

Company

DoorDash

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