Location Stack Revision History

0.8

• greatly improved subscription service performance using multi-object notifies and simplified scheduling
• major package reorganization and simplification
• performance modelling of the particle filter core functionality has resulted in about 30% performance increase
• fixed a z-axis containment bug in the world map
• improved quality of the visualizations
• improved the VersusTech infrared sensor likelihood model
• new support for ground truth measurements in the trackers, statistics, and visualizations
• new support for several tracking algorithms which are simple alternatives to particle filters; useful for comparison or limited application situations

0.7

• new support for Alien Technology RFID readers
• new list and type-based multi-object location queries
• improved measurement simulator now supports time compression and expansion
• added sampling of linear velocities to the particle filters
• improved human motion models by incorporating real kinetic knowledge
• improved the Cricket ultrasound sensor likelihood model
• upgraded to Rain 1.3
• upgraded to Multijava 1.1

0.6.2

• fixed a subtle protocol timing bug in the subscription services

0.6.1

• changed internal world map representation for greatly improved performance during boundary detection and serialization
• fixed a bug in timestamp synchronization and consistency
• display service performance enhancements
• enabled anonymous measurement display

0.6

• graphical display service now fully functional
• revised State internals to be based on quaternions for rotation instead of arbitrary orientation and tilt parameters
• implemented support for general state transform matrices
• added support for wall and obstacle grids in the world map
• added support for sensor resetting using average likelihood filters
• implemented adaptive KLD particle filters
• replaced roulette sampling with stochastic universal sampling
• improved Rain messaging integration and reliability

0.5

• numerous minor issues fixed since 0.4
• finished support for the MIT Cricket hardware
• finished support for the Berkeley Mote hardware ad hoc proximity network
• added name and dynamic type query subscriptions
• added new LocationReport types
• added object database persistence
• added hierarchical grouping forest for objects in the database

0.1 through 0.4

• internal releases - no notes