I have a fresh install for Ubuntu 16.04, updated, and same issue.

After read the peterK (peter-kanderholm) post wrote on 2016-01-08, I
couldn't accept it, I do use regular basis a scanner...

Then per the bug reported I did remember the "Color" and "Color Profile
Viewer", entered there and almost immediately was recommended to install
Gnome Color Manager, accepted.

Then twice reboot no bug, no more crashes.

I do remember this come after I did plug a second monitor to my laptop,
could this be a coincidence?

Regards!

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https://bugs.launchpad.net/bugs/1351286

Title:
  colord-sane assert failure: colord-sane: simple-watch.c:454:
  avahi_simple_poll_prepare: Assertion `s->state == STATE_INIT ||
  s->state == STATE_DISPATCHED || s->state == STATE_FAILURE' failed.

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