Santo Antonio de Ratones Fortress: Zebedee 3D Data Collection

3D laser scan data of Santo Antonio de Ratones Fortress, a fort located on the Ratones Grand Island, in the North Bay of Florianopolis, Santa Catarina, Brazil. Data were acquired using the Zebedee 3D Mapping System, a handheld lidar system that generates maps from measurement collected as an operator holding the device traverses through the site. The primary representations provided are detailed 3D point cloud maps of parts of the fort (approx 67 million points), as well as the trajectory estimate of the laser scanner as it was carried through the environment.