@article{Pomerleau2012c,
  title = {Challenging data sets for point cloud registration algorithms},
  journal = {International Journal of Robotics Research},
  year = {2012},
  volume = {31},
  number = {14},
  pages = {1705-1711},
  author = {Pomerleau, F. and Liu, M. and Colas, F. and Siegwart, R.}
}