diff --git a/README.md b/README.md
index bfb329d2..1c282ab8 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ Zivid Python is the official Python package for Zivid 3D cameras. Read more abou
 ### Dependencies
 
 * [Python](https://www.python.org/) version 3.7 or higher
-* [Zivid SDK][zivid-download-software-url] version 2.13.0 (see [here][zivid-software-installation-url] for help)
+* [Zivid SDK][zivid-download-software-url] version 2.13.1 (see [here][zivid-software-installation-url] for help)
 * [Compiler](doc/CompilerInstallation.md) with C++17 support
 
 *Ubuntu users must install Python headers (`apt install python3-dev`) in addition to the regular `python3` package.*
diff --git a/continuous-integration/deployment/expected-version.txt b/continuous-integration/deployment/expected-version.txt
index 08cef5ee..170bca88 100644
--- a/continuous-integration/deployment/expected-version.txt
+++ b/continuous-integration/deployment/expected-version.txt
@@ -1 +1 @@
-2.13.0.2.13.0
+2.13.1.2.13.1
diff --git a/continuous-integration/versions.json b/continuous-integration/versions.json
index dce5069a..8915de28 100644
--- a/continuous-integration/versions.json
+++ b/continuous-integration/versions.json
@@ -1,3 +1,3 @@
 {
-    "ZIVID_SDK_EXACT_VERSION": "2.13.0+99a4ce9e-1"
+    "ZIVID_SDK_EXACT_VERSION": "2.13.1+18e79e79-1"
 }
diff --git a/modules/zivid/_calibration/detector.py b/modules/zivid/_calibration/detector.py
index c6fdecb8..4a0abaa0 100644
--- a/modules/zivid/_calibration/detector.py
+++ b/modules/zivid/_calibration/detector.py
@@ -125,6 +125,9 @@ def identifier(self):
     def pose(self):
         """Get 3D pose of the marker.
 
+        The returned pose will be positioned at the center of the marker, and have an orientation such that its z-axis
+        points perpendicularly into the face of the marker.
+
         Returns:
             The Pose of the marker center (4x4 transformation matrix)
         """
diff --git a/setup.py b/setup.py
index d90caeab..099d4874 100644
--- a/setup.py
+++ b/setup.py
@@ -10,11 +10,11 @@
 
 # To be replaced by: from setuptools_scm import get_version
 def get_version():
-    return "2.13.0"
+    return "2.13.1"
 
 
 def _zivid_sdk_version():
-    return "2.13.0"
+    return "2.13.1"
 
 
 def _zivid_python_version():
diff --git a/test/test_data/marker_detection/expected_poses_1.csv b/test/test_data/marker_detection/expected_poses_1.csv
index 08c4358a..fa79559b 100644
--- a/test/test_data/marker_detection/expected_poses_1.csv
+++ b/test/test_data/marker_detection/expected_poses_1.csv
@@ -1,4 +1,4 @@
--0.996188,0.012585,0.086322,97.554245
--0.000475,0.988742,-0.149630,-49.818485
--0.087234,-0.149100,-0.984967,1097.975586
+-0.996188,-0.012585,-0.086322,97.554245
+-0.000475,-0.988742,0.149630,-49.818485
+-0.087234,0.149100,0.984967,1097.975586
 0.000000,0.000000,0.000000,1.000000
diff --git a/test/test_data/marker_detection/expected_poses_2.csv b/test/test_data/marker_detection/expected_poses_2.csv
index 8f564063..8b782964 100644
--- a/test/test_data/marker_detection/expected_poses_2.csv
+++ b/test/test_data/marker_detection/expected_poses_2.csv
@@ -1,4 +1,4 @@
--0.187712,0.830468,-0.524488,172.941940
-0.966205,0.060077,-0.250677,184.050980
--0.176669,-0.553818,-0.813679,1022.716431
+-0.187712,-0.830468,0.524488,172.941940
+0.966205,-0.060077,0.250677,184.050980
+-0.176669,0.553818,0.813679,1022.716431
 0.000000,0.000000,0.000000,1.000000
diff --git a/test/test_data/marker_detection/expected_poses_3.csv b/test/test_data/marker_detection/expected_poses_3.csv
index 9c6dd405..4dcd8eae 100644
--- a/test/test_data/marker_detection/expected_poses_3.csv
+++ b/test/test_data/marker_detection/expected_poses_3.csv
@@ -1,4 +1,4 @@
--0.997221,-0.039449,0.063202,-129.307327
--0.073562,0.655752,-0.751384,208.977020
--0.011803,-0.753945,-0.656832,982.244934
+-0.997221,0.039449,-0.063202,-129.307327
+-0.073562,-0.655752,0.751384,208.977020
+-0.011803,0.753945,0.656832,982.244934
 0.000000,0.000000,0.000000,1.000000
diff --git a/test/test_data/marker_detection/expected_poses_4.csv b/test/test_data/marker_detection/expected_poses_4.csv
index 029d3624..3898b9e4 100644
--- a/test/test_data/marker_detection/expected_poses_4.csv
+++ b/test/test_data/marker_detection/expected_poses_4.csv
@@ -1,4 +1,4 @@
--0.051621,-0.732723,0.678566,-161.979538
--0.983619,-0.080204,-0.161432,-18.018311
-0.172708,-0.675784,-0.716581,1018.047058
+-0.051621,0.732723,-0.678566,-161.979538
+-0.983619,0.080204,0.161432,-18.018311
+0.172708,0.675784,0.716581,1018.047058
 0.000000,0.000000,0.000000,1.000000