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docs/03_tests/47_reprojection_error_spec.md

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+# Acceptance Test: AC-10 - Mean Reprojection Error < 1.0 pixels
+
+## Summary
+Validate Acceptance Criterion 10: "Mean Reprojection Error (MRE) < 1.0 pixels. The distance, in pixels, between the original pixel location of the object and the re-projected pixel location."
+
+## Linked Acceptance Criteria
+**AC-10**: MRE < 1.0 pixels
+
+## Test Steps
+
+### Step 1: Process Flight with Factor Graph
+- **Action**: Process AD000001-030 through complete pipeline
+- **Expected Result**: Factor graph optimizes full trajectory
+
+### Step 2: Calculate Reprojection Errors
+- **Action**: For each matched feature across image pairs:
+  - Project 3D point back to image plane using optimized poses
+  - Measure pixel distance from original detection
+- **Expected Result**: Array of reprojection errors for all features
+
+### Step 3: Compute Mean Reprojection Error
+- **Action**: Calculate mean across all features in all images
+- **Expected Result**: MRE < 1.0 pixels
+
+### Step 4: Validate Factor Graph Quality
+- **Action**: Low MRE indicates:
+  - Poses geometrically consistent
+  - 3D structure accurate
+  - No "tension" in factor graph
+- **Expected Result**: MRE correlates with GPS accuracy
+
+## Success Criteria
+- Mean Reprojection Error < 1.0 pixels
+- Standard deviation reasonable (< 2.0 pixels)
+- No outlier reprojections (> 10 pixels)
+
+## Pass/Fail Criteria
+**Passes If**: MRE < 1.0 pixels
+**Fails If**: MRE ≥ 1.0 pixels, indicating geometry inconsistencies
+