add solution drafts, add component decomposition , add spec for other docs

docs/02_components/07_L3_Metric_Refinement/spec.md

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+# L3 Metric Refinement Component
+
+## Detailed Description
+**L3 Metric Refinement** provides the "Pinpoint" accuracy. It takes a pair of images: the current UAV frame and a candidate Satellite Tile (provided by L2 or determined by the State Estimator's prediction).
+
+It uses **LiteSAM** to find dense correspondences between the aerial and satellite views. It computes a Homography and solves for the absolute world coordinate of the UAV center, achieving pixel-level accuracy.
+
+## API Methods
+
+### `refine_pose`
+- **Input:** `uav_frame: FrameObject`, `satellite_tile: SatelliteTile`, `prior_yaw: float` (optional)
+- **Output:** `L3Result`
+- **Description:**
+    1. Preprocesses images for LiteSAM.
+    2. Infers dense matches.
+    3. Filters outliers (RANSAC).
+    4. Computes Homography $H$.
+    5. Decomposes $H$ into rotation and translation (using camera intrinsics and tile GSD).
+    6. Returns `{ abs_lat: float, abs_lon: float, yaw: float, confidence: float, match_inliers: int }`.
+- **Test Cases:**
+    - Perfect match pair -> Accurate Lat/Lon.
+    - Mismatched pair (wrong tile) -> Low inlier count, Low confidence.
+
+## Integration Tests
+- **Accuracy Verification:** Use a ground-truth pair (UAV image + known correct Satellite tile). Verify calculated Lat/Lon error is < 20 meters.
+
+## Non-functional Tests
+- **Robustness:** Test with satellite images from different seasons (if available) or synthetically altered (color shift) to verify LiteSAM's semantic robustness.
+