Ceremonies to mark the anniversary of the liberation of the Nazi concentration camps Bergen-Belsen, Ravensbrück and Sachsenhausen were held in Germany on Sunday.

Allied troops entered the camps and freed the survivors 65 years ago today. Sachsenhausen, close to the German capital Berlin, was one of the oldest concentration camps. German Culture Minister Bernd Neumann says Bergen-Belsen was "hell on earth," adding that the camp is one of the "sources of German guilt".

Around 100 survivors of the Ravensbrück women's camp attended today's remembrance ceremony. Education Minister Annette Schavan told them "your history will remain an eternal warning to us". At least 200,000 people in these camps were either executed or died from starvation, exhaustion and disease.