The model was taken from Googles 3D Warehouse: Direct link to Marela kitchen red&white by user marela
The kitchen was scanned with a Time of Flight camera. The camera path is in the .blend file or exported in a motion.txt. Each individual scan was then combined into a bigger point cloud. The Pointclouds for each individual scan are in world coordinates so they can be concatenated together easily.
If you want them in local coordinates, either scan them again with the "Sensor coordinates" flag enabled or transform them according to the data in motion.txt The complete package (single scans, combined scans, with noise, without noise, motion data) cane be downloaded