Perception & State Estimation Engineer, DoorDash Air

DoorDash connects customers with local businesses for delivery, from restaurants to grocery, retail and its own DashMart stores. DoorDash Labs is an independent team within DoorDash. We explore robotics and automation to transform last mile logistics in the long term.

Key responsibilities

• 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
• 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

Requirements

• Deep experience with state estimation and filtering (EKF, UKF, MSCKF, particle filters)
• Experience with optimization-based methods (factor graphs, GTSAM, Ceres, SymForce)
• Experience with visual-inertial odometry (VIO) and/or laser odometry (LIO)
• Proficient in modern computer vision (feature extraction, tracking, depth estimation)
• Strong C++ and/or Rust skills, with Python for prototyping and analysis
• Experience deploying estimation on real hardware with real sensor noise

Location and schedule

• Onsite in San Francisco, California

Salary and benefits

US base salary $198,600 to $292,000 a year. DoorDash also offers benefits; the full list is on the posting.

How to apply

Apply on the company's own site.