yubikey/pkcs15-tools.md

$ pkcs15-tool --list-certificates 
Using reader with a card: Yubico YubiKey OTP+FIDO+CCID
X.509 Certificate [Certificate for Card Authentication]
	Object Flags   : [0x00]
	Authority      : no
	Path           : 
	ID             : 04
	Encoded serial : 02 09 0088891A87487694BA

$ pkcs15-tool --read-certificate 04

pkcs15-tool --list-public-keys

Reference

1. https://ubuntu.com/server/docs/smart-card-authentication