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Not that I know of in Pathfinder, but from the 3.5 Arms & Equipment Guide:
Smuggler's Boots
These otherwise normal high boots have hinged heels that swing open to reveal small storage spaces. Each can hold one or two fine objects, such as a vial of poison. In addition, the inside lining of the boot can be removed to hide thin, flat items like a map or slender dagger. It requires a successful Search (Perception) check (DC 30) to locate items hidden in the boot.
Cost 10 gp
Weight 1 lb