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Concentration camps were facilities used by the Nazis to dispose of what they considered to be undesirables in World War II. The Seventh Doctor said this included Jews, homosexuals, Gypsies and trade unionists — "anyone a bit different, anyone they don't like the look of." (PROSE: Timewyrm: Exodus) According to Jason Kane, the prisoners were used as slave labour, expected to survive with only scraps of food and clothing. (AUDIO: Just War) Most died. (PROSE: Timewyrm: Exodus)
In 1903, after receiving a wealth of information from the future, Grigori Rasputin foresaw the Holocaust. (AUDIO: The Wanderer)
In the aftermath of Miracle Day in 2011, in which people ceased to die, people were taken to overflow camps. Category ones, people who would have died had it not been for Miracle Day, were taken to Modules and incinerated. (TV: The Categories of Life) Gwen Cooper compared these camps to concentration camps. (TV: The Middle Men)
In an alternate timeline in which Nazi Germany had occupied Britain, British citizens were deported to concentration camps in March 1941. (PROSE: Just War)
In another alternate timeline in the aftermath of the destruction of London, among other disasters caused by aliens, foreigners in Britain were taken to labour camps as other countries closed off their borders. Upon hearing this, Wilfred Mott exclaimed, "That's what they called them the last time!" (TV: Turn Left)
In another alternative timeline accidentally created by the Seventh Doctor and Ace's arrival in Colditz Castle in October 1944, an alternative version of the Eighth Doctor who used the name "Johann Schmidt" disrupted the Nazi's "ethnic cleansing programmes" between 1955 and 1965. Consequently, he attracted the attention of the Nazi authorities but nevertheless maintained his liberty. (AUDIO: Klein's Story)