Estimation of 6D object pose is of great importance to many higher level tasks such as robotic manipulation (Amazon Picking Challenge), scene interpretation and augmented reality. The workshop will feature several high-quality invited talks, presentations of accepted papers, a panel discussion to identify open problems, and a challenge with the goal of establishing the state of the art in 6D object pose estimation from RGB or RGB-D images. We invite submissions of 1) papers of unpublished work and 2) extended abstracts of preliminary or already published work. The papers will be peer-reviewed and, if accepted, published in the ICCV workshop proceedings (submission guidelines, submission system for papers, extended abstracts should be submitted to r6d.workshop@gmail.com). Accepted submissions will be presented as orals/posters/spotlights at the workshop.