diff --git a/modules/objdetect/src/aruco/charuco_detector.cpp b/modules/objdetect/src/aruco/charuco_detector.cpp
index 6b19114183..88a567a7a3 100644
--- a/modules/objdetect/src/aruco/charuco_detector.cpp
+++ b/modules/objdetect/src/aruco/charuco_detector.cpp
@@ -414,7 +414,12 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
 
     // stores if the detected markers have been assigned or not to a diamond
     vector<bool> assigned(_markerIds.total(), false);
-    if(_markerIds.total() < 4ull) return; // a diamond need at least 4 markers
+    if(_markerIds.total() < 4ull)
+    {
+        if (_diamondCorners.needed()) _diamondCorners.release();
+        if (_diamondIds.needed()) _diamondIds.release();
+        return; // a diamond need at least 4 markers
+    }
 
     // convert input image to grey
     Mat grey;
@@ -518,16 +523,27 @@ void CharucoDetector::detectDiamonds(InputArray image, OutputArrayOfArrays _diam
 
     if(diamondIds.size() > 0ull) {
         // parse output
-        Mat(diamondIds).copyTo(_diamondIds);
+        if (_diamondIds.needed())
+        {
+            Mat(diamondIds).copyTo(_diamondIds);
+        }
 
-        _diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
-        for(unsigned int i = 0; i < diamondCorners.size(); i++) {
-            _diamondCorners.create(4, 1, CV_32FC2, i, true);
-            for(int j = 0; j < 4; j++) {
-                _diamondCorners.getMat(i).at<Point2f>(j) = diamondCorners[i][j];
+        if (_diamondCorners.needed())
+        {
+            _diamondCorners.create((int)diamondCorners.size(), 1, CV_32FC2);
+            for(unsigned int i = 0; i < diamondCorners.size(); i++) {
+                _diamondCorners.create(4, 1, CV_32FC2, i, true);
+                for(int j = 0; j < 4; j++) {
+                    _diamondCorners.getMat(i).at<Point2f>(j) = diamondCorners[i][j];
+                }
             }
         }
     }
+    else
+    {
+        if (_diamondCorners.needed()) _diamondCorners.release();
+        if (_diamondIds.needed()) _diamondIds.release();
+    }
 }
 
 void drawDetectedCornersCharuco(InputOutputArray _image, InputArray _charucoCorners,
diff --git a/modules/objdetect/test/test_charucodetection.cpp b/modules/objdetect/test/test_charucodetection.cpp
index 0e91c69ea9..2d27abcd37 100644
--- a/modules/objdetect/test/test_charucodetection.cpp
+++ b/modules/objdetect/test/test_charucodetection.cpp
@@ -703,6 +703,27 @@ TEST(Charuco, testmatchImagePoints)
     }
 }
 
+TEST(Charuco, detectDiamondsClearsOutputsWithLessThanFourMarkers)
+{
+    aruco::CharucoBoard board(Size(3, 3), 1.f, 0.5f, aruco::getPredefinedDictionary(aruco::DICT_4X4_50));
+    aruco::CharucoDetector detector(board);
+
+    vector<vector<Point2f>> markerCorners = {
+        {Point2f(10.f, 10.f), Point2f(20.f, 10.f), Point2f(20.f, 20.f), Point2f(10.f, 20.f)},
+        {Point2f(30.f, 10.f), Point2f(40.f, 10.f), Point2f(40.f, 20.f), Point2f(30.f, 20.f)},
+        {Point2f(10.f, 30.f), Point2f(20.f, 30.f), Point2f(20.f, 40.f), Point2f(10.f, 40.f)}
+    };
+    vector<int> markerIds = {0, 1, 2};
+
+    vector<vector<Point2f>> diamondCorners = {{Point2f(1.f, 1.f), Point2f(2.f, 1.f), Point2f(2.f, 2.f), Point2f(1.f, 2.f)}};
+    vector<Vec4i> diamondIds = {Vec4i(0, 1, 2, 3)};
+
+    detector.detectDiamonds(Mat(), diamondCorners, diamondIds, markerCorners, markerIds);
+
+    EXPECT_TRUE(diamondCorners.empty());
+    EXPECT_TRUE(diamondIds.empty());
+}
+
 typedef testing::TestWithParam<int> CharucoDraw;
 INSTANTIATE_TEST_CASE_P(/**/, CharucoDraw, testing::Values(CV_8UC2, CV_8SC2, CV_16UC2, CV_16SC2, CV_32SC2, CV_32FC2, CV_64FC2));
 TEST_P(CharucoDraw, testDrawDetected) {