1998 RSV Mille lauched
1999 New colour schemes
2000 New colour schemes. RSV Mille R launched with ohlins suspension, lightweight OZ forged wheels and carbon. Homologation SP model launched for WSBK with revised engine internals, detail changes to chaissis, brakes bodywork
2001 New colour schemes. Revised RSV Mille and Mille R with revised engine internals, revised EFI, new brembo calipers, new bodywork and tank, suspension changes and revised engine positon.
2002 New colour schemes. Ltd edition Haga Rep introduced with bling, twin Akrapovic exhaust and bigger throttle bodies.
2003 New colour schemes. Revised RSV Mille and Mille R with new rear end bodywork, closer gearbox ratios, R model got radial brake calipers. Ltd Edition Edwards introduced with bling, twin Akrapovic exhaust and bigger throttle bodies.
2003.5 New model RSVR1000 and Factory introduced
2004 No changes
2005 New colour schemes. RSVR gets Radial Brake calipers. Both models get clear indicator lenses
2006 New colour schemes. Revised RSVR 1000 and Factory with new bodywork, revised engine internals and EFi, RSVR gets ohlins front forks and OZ style wheels. Both models get new style exhaust can.
2007 New colour schemes
2008 New colour schemes
May have missed something but hope that's what you are looking for.