If you use publish results which use this dataset, please cite the following paper, in which the dataset was introduced:

srt_distance A New Distance for Scale-Invariant 3D Shape Recognition and Registration
Minh-Tri Pham, Oliver J. Woodford, Frank Perbet, Atsuto Maki, Björn Stenger, Roberto Cipolla
Cambridge Research Laboratory and University of Cambridge
Published in ICCV 2011

pdf [paper, 3.3MB] [project page]

The dataset consists of the following archives. Their formats are explained in the File Formats page.

We also provide sample MATLAB code for using the dataset.