# GPS-Analyzed Scenario Test: Sharp Turn Recovery

## Summary
Test using GPS-analyzed sharp turn datasets with frame gaps to simulate tracking loss.

## Dataset Characteristics

### Dataset A: Single Frame Gap
- **Images**: AD000042, AD000044, AD000045, AD000046
- **Gap**: Skip AD000043 (simulates tracking loss)
- **Purpose**: Test L2 recovery

### Dataset B: Sequential with Jump
- **Images**: AD000032-AD000035
- **Jump**: AD000032→033 (220.6m)
- **Purpose**: Validate sharp turn handling

### Dataset C: 5-Frame Gap
- **Images**: AD000003, AD000009
- **Gap**: Skip AD000004-008
- **Purpose**: Test larger discontinuity

## Test Steps
1. Process each dataset separately
2. Verify L2 global relocalization succeeds
3. Check L1 failure detection
4. Validate recovery accuracy

## Expected Results
```
Dataset A: L2 recovery successful, error < 50m
Dataset B: Sharp turn handled, accuracy maintained
Dataset C: Large gap recovered, relocated < 200m
AC-4 Status: PASS (all datasets)
```

## Pass/Fail
**Passes**: AC-4 met, all recovery scenarios successful
**Fails**: L2 fails to relocalize, errors > 200m