add tests

gen_tests updated
solution.md updated

docs/03_tests/52_test_outlier_350m_scenario_spec.md

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+# GPS-Analyzed Scenario Test: 350m Outlier
+
+## Summary
+Test using GPS-analyzed Test_Outlier_350m dataset (AD000045-050) containing 268.6m jump.
+
+## Dataset Characteristics
+- **Images**: AD000045-AD000050 (6 images)
+- **Outlier**: AD000047 → AD000048 (268.6m jump)
+- **Purpose**: Validate AC-3 (outlier robustness)
+
+## Test Steps
+1. Process AD000045-050
+2. Monitor robust kernel activation
+3. Verify trajectory remains consistent
+4. Check all images processed
+
+## Expected Results
+```
+Outlier Detected: AD000047→048 (268.6m)
+Robust Kernel: Activated ✓
+Images Processed: 6/6 (100%)
+Non-outlier accuracy: Good (< 50m)
+AC-3 Status: PASS
+```
+
+## Pass/Fail
+**Passes**: AC-3 met, system handles outlier without failure
+**Fails**: System crashes or trajectory corrupted
+