Night terrors? Nightmares?

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My daughter is 1 1/2 and just my husband and I started hearing her every once and a while during the middle of the night let out scream or two or even a cry out! When do nightmares start in children? Is it even nightmares? It would wake my husband and I out of a dead sleep and we would go running and when we would go in and check on her she would be calm again and back to sleep. It has only happened maybe 3 times in the last month so I am not to worried but just wanted to hear everyone elses experiences with this!