Localization Expert

Meet the team:

You will join a team that is responsible for developing software for localization, calibration, and mapping of robotic ground vehicles, which we lovingly refer to as Glydcars. The team is composed of team members with strong backgrounds in sensor fusion (LIDAR, RADAR, vision processing, UWB radios, inertial sensors, etc), SLAM (Simultaneous Localization and Mapping), optimization, filtering (Kalman filters, factor graphs, etc) and tracking. Members support development and maintenance of core components of a sophisticated autonomy stack for Glydcars, which operate in a variety of environments including GPS-denied areas. Team members contribute by writing C++ onboard software, peer-reviewing each other’s contributions, developing unit, subsystem, and end-to-end tests, and conducting data analysis (often using Python) in a common software repository. 

Roles & Responsibilities:

• Develop and enhance state-of-the-art algorithms for localization and mapping from LIDAR/RADAR/UWB Range Sensors/IMU/Encoders, etc.
• Improve upon existing integrity monitoring capabilities to provide a robust, safe localization system for passenger rides
• Work closely with teammates by conducting and receiving code reviews and demonstrating attention to detail.
• Conduct simulation (including developing and passing unit tests, subsystem tests, and end-to-end scenarios)  and live testing of the autonomy stack.
• Perform detailed analysis of algorithm and system performance by replaying logs of simulated and live testing and augmenting analysis capabilities.
• Participate in the design of safety-critical software components of the Glydcar and wayside systems.
• Deliver answers and results to tough problems including providing cm-level accurate localization and mapping in GPS-denied environments.

Knowledge, Skills and Abilities:

• PhD in a relevant field (engineering/computer science) and 3+ years or MSc and 5+ years of professional experience.
• C++ Programming Skills: experience and excellent skills with modern variants of C++ (e.g., C++20), experience with a C++ unit testing framework such as gtest, experience working with CMake and/or bazel build systems.
• Thorough knowledge and implementation experience in several localization/mapping algorithms such as factor graph optimization, numerical optimization, scan-matching, multilateration, integrity monitoring, etc.
• Familiarity and competence with mathematical concepts such as rigid body transforms, 3D calculus, 6DOF kinematics, probability theory, and linear algebra.
• Bonus: extensive experience in Receiver Autonomous Integrity Monitoring (RAIM).
• Bonus: experience in safety qualification standards related to localization accuracy.