The IROS2010 paper Efficient Sparse Pose Adjustment for 2D Mapping” by Kurt Konolige, Giorgio Grisetti, Rainer Kümmerle, Wolfram Burgard, Benson Limketkai, and Regis Vincent was published with a link to a website that contained a number of great datasets and reference results.  The link was to a Willow Garage website (www.ros.org/research/2010/spa) which no longer exists.

With a little help I was able to track down the data which is now hosted here at petercorke.com/spa.

Sparse Pose Adjustment