There is the 3D point cloud data used in the following ICPR2010 paper.
Please refere the following ICPR2010 paper when you use the data.
@INPROCEEDINGS{5597540,
author={Tamaki, Toru and Tanigawa, Shunsuke and Ueno, Yuji and Raytchev, Bisser and Kaneda, Kazufumi},
booktitle={2010 20th International Conference on Pattern Recognition},
title={Scale Matching of 3D Point Clouds by Finding Keyscales with Spin Images},
year={2010},
pages={3480-3483},
doi={10.1109/ICPR.2010.850}
}