The Vision4Robotics library is a C++ software collection used for various (RGB-D) Computer Vision problems. It is based on the Point Cloud Library and provides modules for recognition, segmentation, tracking, registration, etc. Furthermore, it contains applications such as 3D object modeling and example code snippets, which shall demonstrate the usage of the library. It’s been released in August 2015 and developed by people from our group. In addition to the available source code, there is also a Debian package available for Ubuntu 14.04LTS 64bit. Interfaces for ROS indigo can be obtained from the v4r_ros_wrappers repo.