add tests

gen_tests updated
solution.md updated

docs/03_tests/37_sharp_turn_minimal_overlap_spec.md

@@ -0,0 +1,111 @@
+# Acceptance Test: Sharp Turns with Minimal Overlap (<5%)
+
+## Summary
+Validate AC-4 requirement for handling sharp turns where consecutive images have minimal overlap (1-5%) but do share some common features, testing the boundaries of L1 sequential tracking before L2 activation.
+
+## Linked Acceptance Criteria
+**AC-4**: System should correctly continue the work even during sharp turns, where the next photo doesn't overlap at all, or overlaps in less than 5%. The next photo should be in less than 200m drift and at an angle of less than 70%.
+
+## Preconditions
+- ASTRAL-Next system operational
+- LightGlue configured with adaptive depth mechanism
+- L2 global place recognition ready for fallback
+- Minimal overlap test dataset prepared
+
+## Test Data
+- **Dataset A**: AD000032-AD000035 (contains 220.6m jump)
+- **Dataset B**: AD000042, AD000044, AD000045 (skip 043, natural gap)
+- **Overlap Characteristics**: 2-5% estimated (edges of consecutive frames)
+- **Distance**: All jumps <230m (within 200m drift requirement)
+
+## Test Steps
+
+### Step 1: Test Minimal Overlap Scenario A
+**Action**: Process AD000032 → AD000033 (220.6m jump)
+**Expected Result**:
+- L1 SuperPoint+LightGlue attempts matching
+- Feature count low (10-50 matches vs normal 100+)
+- LightGlue adaptive depth increases (more attention layers)
+- Confidence score reported as LOW
+- Status: MINIMAL_OVERLAP_L1
+
+### Step 2: Verify L1 Handling or L2 Activation
+**Action**: Analyze matching result and system response
+**Expected Result**:
+- IF ≥10 high-quality matches: L1 succeeds, pose estimated
+- IF <10 matches: L1 fails gracefully, L2 activates
+- No system crash or undefined behavior
+- Transition between L1/L2 smooth
+- Status: L1_OR_L2_SUCCESS
+
+### Step 3: Test Minimal Overlap Scenario B
+**Action**: Process AD000042 → AD000044 (skipping 043)
+**Expected Result**:
+- Larger gap increases difficulty
+- L1 likely fails (overlap too low)
+- L2 AnyLoc retrieval activates
+- DINOv2 features match despite view change
+- Global position estimated from satellite database
+- Status: L2_RELOCALIZATION
+
+### Step 4: Validate Position Accuracy
+**Action**: Compare estimated positions with ground truth
+**Expected Result**:
+```
+AD000033: Error <100m (minimal overlap, higher uncertainty)
+AD000044: Error <100m (L2 retrieval, coarse localization)
+Drift: <200m for both scenarios (AC-4 requirement met)
+```
+
+### Step 5: Test Continuous Minimal Overlap Sequence
+**Action**: Process AD000032-035 as continuous sequence
+**Expected Result**:
+- Initial minimal overlap (032→033) handled
+- Subsequent frames (033→034→035) easier (normal overlap)
+- Factor graph smooths trajectory
+- Final accuracy improved through optimization
+- All frames: Error <50m after optimization
+- Status: SEQUENCE_COMPLETED
+
+### Step 6: Verify Angular Constraint (<70°)
+**Action**: Analyze estimated rotation between frames
+**Expected Result**:
+- Rotation estimates <70° for all minimal overlap scenarios
+- Rotation estimates consistent with wing-type UAV banking
+- No unrealistic 180° rotations estimated
+- Status: ANGULAR_CONSTRAINT_MET
+
+## Pass/Fail Criteria
+
+**PASS if**:
+- Both minimal overlap scenarios processed without crash
+- Position drift <200m for each minimal overlap frame
+- Angular changes <70° estimated
+- System demonstrates graceful L1→L2 transition
+- Final optimized trajectory <50m error
+
+**FAIL if**:
+- System crashes on minimal overlap
+- Position drift >200m for any frame
+- Angular changes >70° estimated
+- No L2 fallback when L1 fails
+- Trajectory diverges
+
+## Technical Validation
+- **Match Count**: Minimal overlap yields 10-50 matches (vs normal 100+)
+- **LightGlue Depth**: Adaptive mechanism uses more layers (8+ vs typical 6)
+- **L1 Confidence**: <0.5 for minimal overlap (vs >0.8 normal)
+- **L2 Activation**: Triggered when L1 confidence <0.4
+- **Retrieval Accuracy**: Top-1 satellite tile correct in ≥90% cases
+
+## Edge Case Analysis
+- **1-5% overlap**: Boundary between L1 possible and L1 impossible
+- **5-10% overlap**: L1 should succeed with high confidence
+- **0% overlap**: Covered in separate test (36_sharp_turn_zero_overlap_spec.md)
+
+## Notes
+- This test validates the smooth transition zone between L1 and L2
+- LightGlue's attention mechanism is crucial for minimal overlap success
+- Real flights may have brief periods of minimal overlap during banking
+- AC-4 allows up to 200m drift, giving system reasonable tolerance
+