gps-denied-onboard/docs/03_tests/52_test_outlier_350m_scenario_spec.md

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