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docs/03_tests/34_outlier_350m_single_spec.md

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+# Acceptance Test: Single 350m Outlier Robustness
+
+## Summary
+Validate AC-3 requirement that the system handles a single outlier image with up to 350m position deviation caused by aircraft tilt without trajectory divergence.
+
+## Linked Acceptance Criteria
+**AC-3**: The system should correctly continue the work even in the presence of up to 350 meters of an outlier photo between 2 consecutive pictures en route. This could happen due to tilt of the plane.
+
+## Preconditions
+- ASTRAL-Next system operational
+- Factor graph optimizer configured with robust cost functions (Cauchy/Huber kernel)
+- Test dataset with known large position jump
+- Ground truth available for validation
+
+## Test Data
+- **Dataset**: AD000045-AD000050 (6 images)
+- **Outlier**: AD000047 → AD000048 (268.6m jump, closest to 350m requirement)
+- **Ground Truth**: coordinates.csv
+- **Purpose**: Verify robust handling of tilt-induced position jumps
+
+## Test Steps
+
+### Step 1: Establish Baseline Trajectory
+**Action**: Process AD000045-AD000046 to establish stable tracking
+**Expected Result**:
+- L1 sequential tracking successful
+- Factor graph initialized with first 2 poses
+- Baseline trajectory established
+- Status: TRACKING
+
+### Step 2: Process Outlier Frame
+**Action**: Process AD000047 (before the 268.6m jump)
+**Expected Result**:
+- Frame processed normally
+- Factor graph updated
+- Position estimate within expected range
+- Status: TRACKING
+
+### Step 3: Encounter Large Position Jump
+**Action**: Process AD000048 (268.6m from AD000047)
+**Expected Result**:
+- L1 reports low confidence or matching failure
+- Large translation vector detected (>>120m expected)
+- Robust cost function activates (error penalty changes from quadratic to linear/log)
+- Factor graph does NOT diverge
+- Status: OUTLIER_DETECTED
+
+### Step 4: Verify Robust Handling
+**Action**: Examine factor graph's treatment of the outlier constraint
+**Expected Result**:
+- Outlier factor down-weighted (residual weight <0.3)
+- OR outlier treated as rotation+normal translation
+- Trajectory maintains consistency with other constraints
+- No catastrophic error propagation
+- Status: OUTLIER_HANDLED
+
+### Step 5: Continue Processing Post-Outlier
+**Action**: Process AD000049-AD000050
+**Expected Result**:
+- L2 global relocalization may activate to verify position
+- L1 tracking resumes successfully
+- Factor graph optimization converges
+- Post-outlier trajectory accurate (<50m error)
+- Status: RECOVERED
+
+### Step 6: Validate Final Trajectory
+**Action**: Compare entire sequence with ground truth
+**Expected Result**:
+```
+AD000045: Error <50m
+AD000046: Error <50m  
+AD000047: Error <50m
+AD000048: Error may be 50-100m (outlier frame)
+AD000049: Error <50m (recovered)
+AD000050: Error <50m (recovered)
+Overall: System continues operation successfully
+```
+
+## Pass/Fail Criteria
+
+**PASS if**:
+- System processes all 6 images without crashing
+- Outlier frame (AD000048) does not cause trajectory divergence
+- Post-outlier frames (049-050) achieve <50m error
+- Factor graph converges with MRE <2.0px
+- No manual intervention required
+
+**FAIL if**:
+- System crashes on outlier frame
+- Trajectory diverges (errors >200m persist for >2 frames)
+- Factor graph fails to converge
+- Manual user input required for recovery
+
+## Technical Validation
+- **Robust Kernel Active**: Verify Cauchy/Huber kernel applied to outlier factor
+- **Residual Analysis**: Outlier residual >3σ from mean
+- **Weight Analysis**: Outlier factor weight <0.3 vs normal ~1.0
+- **Convergence**: Final optimization converges in <50 iterations
+
+## Notes
+- Test uses 268.6m outlier (real data) as proxy for 350m requirement
+- Robust M-estimation is critical for AC-3 compliance
+- Single outlier is easier than multiple; see AC-3 test 35 for multiple outliers
+