Senior/Staff Software Engineer, State Estimation
South San Francisco, CAFull-TimeStaffSoftware Engineering
What you'll do
- Implementing new features to improve the stability and reliability of our local and global pose estimates.
- Designing mitigation and fallback strategies for the pose estimation systems.
- Researching, prototyping, and experimenting with various sensors and state-of-the-art state estimation algorithms.
- Architecting, designing, and implementing software applications, as well as onboard and offboard infrastructure and tools to support those applications.
- Developing portable, scalable, and fast state measurement and optimization libraries.
- Writing performant, well-tested software, and improving code quality of the entire Autonomy team through code and design reviews.
- Validating your solutions on real vehicles in real-world scenarios.
What you'll bring
- Demonstrated experience deploying state estimation algorithms in real robots: Factor graphs, Kalman filters, particle filters, structure from motion, visual inertial odometry, lidar odometry, etc.
- Deep understanding of the design tradeoffs involved when fusing various sensing technologies: cameras (mono and stereo), LiDAR, RADAR, GNSS, IMUs, wheel encoders, etc.
- Experience implementing state estimation math effectively in software with the following libraries: Eigen, Sophus, Ceres, GTSAM, etc.
- Strong proficiency in modern C++ and experience writing efficient algorithms for resource-constrained embedded systems.
- Ability to thrive in a fast-moving, collaborative, small team environment with lots of ownership.
- Excellent analytical, communication, and documentation skills with demonstrated ability to collaborate with interdisciplinary stakeholders outside of Autonomy.
- An eagerness to get your hands dirty by testing your code on real robots at real customer farms (gives “field testing” a whole new meaning!).
What makes you a strong fit
- Experience architecting state estimation systems from scratch and understanding the design tradeoffs when leveraging filters, pose graph optimization, etc.
- Experience implementing custom factors for factor graph optimization.
- Experience with state-of-the-art visual odometry and/or lidar odometry algorithms.
- Thinks/dreams in Lie algebra.
- 5+ years of software development experience in autonomy, robotics, or a related field.
- MS or PhD in Robotics, Computer Science, Computer Engineering, Electrical Engineering, or a related field.
