diff --git a/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5db867a3435b17087a6859f0d49dd6a4c7a33e85
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp
@@ -0,0 +1,7 @@
+#include "PoseCovariance.h"
+
+
+namespace armarx::objpose
+{
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h
new file mode 100644
index 0000000000000000000000000000000000000000..5897626c4021c6f6e9164cf776a2cb6dae920cf9
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <Eigen/Core>
+
+
+namespace armarx::objpose
+{
+
+    /**
+     * @brief The covariance (matrices) of a pose covariance.
+     */
+    struct PoseCovariance
+    {
+        Eigen::Matrix3f translation;
+    };
+
+}