I can confirm this problem.

I could fix it by replacing my /lib/x86_64-linux-gnu/libusb-1.0.so.0.1.0
with the version libusb-1.0-0_1.0.9~rc3-2ubuntu1 (probably a newer version 
would also work, I just could not
find one).


The version which did NOT work:

apt-cache policy libusb-1.0-0
libusb-1.0-0:
  Installed: 2:1.0.17-1ubuntu2
  Candidate: 2:1.0.17-1ubuntu2
  Version table:
 *** 2:1.0.17-1ubuntu2 0
        500 http://archive.ubuntu.com/ubuntu/ trusty/main amd64 Packages
        100 /var/lib/dpkg/status
        

OS: Ubuntu 14.04 64bit
3.13.0-43-generic #72-Ubuntu SMP Mon Dec 8 19:35:06 UTC 2014 x86_64 x86_64 
x86_64 GNU/Linux


pcscd --version
pcsc-lite version 1.8.10.
Copyright (C) 1999-2002 by David Corcoran <corco...@linuxnet.com>.
Copyright (C) 2001-2011 by Ludovic Rousseau <ludovic.rouss...@free.fr>.
Copyright (C) 2003-2004 by Damien Sauveron <sauve...@labri.fr>.
Report bugs to <mus...@lists.musclecard.com>.
Enabled features: Linux x86_64-pc-linux-gnu serial usb libudev 
usbdropdir=/usr/lib/pcsc/drivers ipcdir=/var/run/pcscd 
configdir=/etc/reader.conf.d


Smartcard reader:
HID Omnikey 3121 (https://www.hidglobal.com/products/readers/omnikey/3121)


Driver:
https://www.hidglobal.com/drivers/21278 which is 
ifdokccid_linux_x86_64-v4.0.5.5.bundle.


lsusb
Bus 002 Device 052: ID 076b:3022 OmniKey AG         
        
###

Segfaults in syslog:

Dec 20 20:46:17 liberty kernel: [ 8543.889726] usb 2-1.3: new full-speed USB 
device number 6 using ehci-pci
Dec 20 20:46:17 liberty kernel: [ 8543.988226] usb 2-1.3: New USB device found, 
idVendor=076b, idProduct=3022
Dec 20 20:46:17 liberty kernel: [ 8543.988238] usb 2-1.3: New USB device 
strings: Mfr=1, Product=2, SerialNumber=0
Dec 20 20:46:17 liberty kernel: [ 8543.988244] usb 2-1.3: Product: Smart Card 
Reader USB
Dec 20 20:46:17 liberty kernel: [ 8543.988249] usb 2-1.3: Manufacturer: OMNIKEY 
AG
Dec 20 20:46:17 liberty mtp-probe: checking bus 2, device 6: 
"/sys/devices/pci0000:00/0000:00:1d.0/usb2/2-1/2-1.3"
Dec 20 20:46:17 liberty mtp-probe: bus: 2, device: 6 was not an MTP device
Dec 20 20:46:17 liberty kernel: [ 8543.999039] pcscd[29697]: segfault at 
7f94f533d248 ip 00007f94f533d248 sp 00007f94f816aee0 error 14 in 
libgcc_s.so.1[7f94f5751000+16000]

Dec 20 21:39:48 liberty kernel: [11755.020679] pcscd[30310]: segfault at
7febd0909248 ip 00007febd0909248 sp 00007febd3736ee0 error 14

Dec 21 13:23:00 liberty kernel: [13600.803213] pcscd[30707]: segfault at
7fdf6a8eb248 ip 00007fdf6a8eb248 sp 00007fdf6a8dbee0 error 14 in
libdbus-1.so.3.7.6[7fdf6af38000+44000]

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https://bugs.launchpad.net/bugs/1296288

Title:
  pcscd crashes when disconnecting / reconnecting USB device

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