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

docs/02_components/05_L1_Visual_Odometry/spec.md

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+# L1 Visual Odometry Component
+
+## Detailed Description
+**L1 Visual Odometry** handles the high-frequency, sequential tracking of the UAV. It receives the current frame and the previous frame, using **SuperPoint** for feature extraction and **LightGlue** for matching.
+
+It estimates the **Relative Pose** (Translation and Rotation) between frames. Since monocular VO lacks scale, it outputs a "scale-ambiguous" translation vector or utilizes the altitude prior (if passed) to normalize. It is designed to be robust to low overlap but will flag "Tracking Lost" if matches fall below a threshold.
+
+## API Methods
+
+### `process_frame`
+- **Input:** `current_frame: FrameObject`, `prev_frame: FrameObject | None`
+- **Output:** `L1Result`
+- **Description:**
+    1. Extracts features (Keypoints, Descriptors) from `current_frame` (using Model Registry).
+    2. If `prev_frame` exists, matches features with `prev_frame` using LightGlue.
+    3. Computes Essential/Fundamental Matrix and recovers relative pose $(R, t)$.
+    4. Returns `L1Result`: `{ relative_pose: Matrix4x4, num_matches: int, confidence: float, keypoints: list }`.
+- **Test Cases:**
+    - Frame 1 & Frame 2 (Good overlap) -> High match count, valid pose.
+    - Frame 1 & Frame 10 (Zero overlap) -> Low match count, "Tracking Lost" status.
+
+### `reset`
+- **Input:** `void`
+- **Output:** `void`
+- **Description:** Clears internal history/state. Used after a "Kidnapped Robot" reset.
+
+## Integration Tests
+- **Trajectory Generation:** Feed a sequence of 10 frames. Integrate relative poses. Compare shape of trajectory to ground truth (ignoring scale).
+
+## Non-functional Tests
+- **Inference Speed:** Must run < 100ms (TensorRT) or reasonable time on CPU.
+