This is the ECHO dataset presented in 'Cross-time registration of 3D point clouds' (https://www.sciencedirect.com/science/article/pii/S0097849321001357). 

The dataset consists of eroded cultura heritage objects, transformed randomly in 3D space. It is seperated into two datasets, the datasetCulture and the datasetShape. Each dataset contains, the Source object, the Target objects (the transformed and the eroded objects) and the ground truth transformation.