Bibtex reference:

@article{Pomerleau:2012,
author = {Pomerleau, Fran{\c c}ois and Liu, M. and Colas, Francis and Siegwart, Roland},
title = {{Challenging data sets for point cloud registration algorithms}},
journal = {The International Journal of Robotics Research},
year = {2012},
volume = {31},
number = {14},
pages = {1705--1711},
month = dec
}