The data set contains point cloud data captured in an indoor environment with precise localization and ground truth mapping information. Two ”stop-and-go” data sequences of a robot with mounted Ouster OS1-128 lidar are provided. This data-capturing strategy allows recording lidar scans that do not suffer from an error caused by sensor movement. Individual scans from static robot positions are recorded. Additionally, point clouds recorded with the Leica BLK360 scanner are provided as mapping ground-truth data.