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1–2 jobs· newest first

Perception & State Estimation Engineer - DoorDash Air
DoorDash USA · San Francisco, US
$199K–$292KFull-time · Senior
PNT Software Engineer
Ulysses Inc. · San Francisco, US

+10K new in the last hour

Perception & State Estimation Engineer - DoorDash Air

DoorDash USA · Posted Nov 3, 2026

San Francisco, California, United States
Full-time · Senior
$199K–$292K per year

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Compensation

The national base pay range for this position within the United States, including Illinois and Colorado. $198,600—$292,000 USD

Responsibilities

Own and develop the perception and state estimation for package pickup and delivery system
Influence system design decisions, including sensor selection, sensing architecture, and observability analysis
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

Requirements

MS/PhD degree in CS, EE, ME, Robotics, or related technical field
Nice to have: PX4 / ArduPilot EKF internals
Nice to have: multi-body state estimation
Nice to have: SLAM in GPS-denied environments
Nice to have: publications or open-source contributions

Skills

state estimation EKF UKF MSCKF particle filters optimization-based methods factor graphs GTSAM Ceres SymForce visual-inertial odometry (VIO)laser odometry (LIO)computer vision C++Rust Python linear algebra PX4 ArduPilot

Benefits

401(k) plan with employer matching
16 weeks of paid parental leave
wellness benefits
commuter benefits match
paid time off

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PNT Software Engineer

Ulysses Inc. · Posted Nov 3, 2026

San Francisco, California, United States

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PNT (Positioning, Navigation, and Timing) Software Engineer focused on localization technologies for autonomous surface and subsea vehicles.

Responsibilities

Architect and implement tightly‑coupled navigation for subsea and surface vehicles using factor graphs
Fuse IMU, DVL, pressure, USBL/SBL acoustic positioning, and GNSS/RTK when surfaced
Keep position error bounded across multi‑day dives
Contribute to vision and acoustic localization for docking and recovery
Fuse radar, AIS, and EO/IR cameras for collision avoidance and COLREGs‑compliant autonomy

Requirements

Nice to have: marine navigation
Nice to have: DVL
Nice to have: USBL/SBL
Nice to have: INS
Nice to have: multibeam

Skills

state estimation Kalman filtering factor graphs nonlinear least‑squares optimization observability analysis inertial navigation IMU error modeling preintegration sensor fusion camera intrinsics extrinsics calibration camera‑IMU calibration Rust C++Python

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