This book constitutes the refereed proceedings of the 6th International Workshop on Representations, Analysis and Recognition of Shape and Motion from Imaging Data, RFMI 2016, held in Sidi Bou Said Village, Tunisia, in October 2016. The 9 revised full papers and 7 revised short papers presented were carefully reviewed and selected from 23 submissions. The papers are organized in topical sections on 3D shape registration and comparison; face analysis and recognition; video and motion analysis; 2D shape analysis.