We provide some sample scans for you: If you have suggestions about scenarios/settings you think should be scanned and provided for download, just send us a message at
scan (at) blensor (dot) org

Kitchen (Time of Flight camera)

Intersection (Velodyne)

Human motion (Time of Flight camera)

Human + Table (Kinect)

If you want to use those files for your own scans check out the Tutorial for PCL developers/users