diff --git a/modules/calib/include/opencv2/calib.hpp b/modules/calib/include/opencv2/calib.hpp
index b47120e274..b26d9c20c7 100644
--- a/modules/calib/include/opencv2/calib.hpp
+++ b/modules/calib/include/opencv2/calib.hpp
@@ -1341,6 +1341,7 @@ See @ref CALIB_USE_INTRINSIC_GUESS and other `CALIB_` constants. Expected shape:
 @param[out] distortions Distortion coefficients. Output size: NUM_CAMERAS x NUM_PARAMS.
 @param[out] perFrameErrors RMSE value for each visible frame, (-1 for non-visible). Output size: NUM_CAMERAS x NUM_FRAMES.
 @param[out] initializationPairs Pairs with camera indices that were used for initial pairwise stereo calibration.
+@param[in] criteria Termination criteria for the iterative optimization algorithm.
 
 Output size: (NUM_CAMERAS-1) x 2.
 
@@ -1382,7 +1383,8 @@ CV_EXPORTS_AS(calibrateMultiviewExtended) double calibrateMultiview (
         InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts,
         OutputArray initializationPairs, OutputArrayOfArrays rvecs0,
         OutputArrayOfArrays tvecs0, OutputArray perFrameErrors,
-        InputArray flagsForIntrinsics=noArray(), int flags = 0);
+        InputArray flagsForIntrinsics=noArray(), int flags = 0,
+        TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
 
 /// @overload
 CV_EXPORTS_W double calibrateMultiview (
@@ -1390,7 +1392,8 @@ CV_EXPORTS_W double calibrateMultiview (
         const std::vector<cv::Size>& imageSize, InputArray detectionMask, InputArray models,
         InputOutputArrayOfArrays Ks, InputOutputArrayOfArrays distortions,
         InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts,
-        InputArray flagsForIntrinsics=noArray(), int flags = 0);
+        InputArray flagsForIntrinsics=noArray(), int flags = 0,
+        TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
 
 
 /** @brief Computes Hand-Eye calibration: \f$_{}^{g}\textrm{T}_c\f$
diff --git a/modules/calib/src/multiview_calibration.cpp b/modules/calib/src/multiview_calibration.cpp
index 12c8b3caf8..5d528cb4dc 100644
--- a/modules/calib/src/multiview_calibration.cpp
+++ b/modules/calib/src/multiview_calibration.cpp
@@ -265,7 +265,7 @@ static void pairwiseRegistration (const std::vector<std::pair<int,int>> &pairs,
         const std::vector<std::vector<Mat>> &imagePoints, const std::vector<std::vector<int>> &overlaps,
         const std::vector<std::vector<bool>> &detection_mask_mat, const std::vector<Mat> &Ks,
         const std::vector<Mat> &distortions, std::vector<Matx33d> &Rs_vec, std::vector<Vec3d> &Ts_vec,
-        Mat &intrinsic_flags, int extrinsic_flags = 0) {
+        Mat &intrinsic_flags, int extrinsic_flags, TermCriteria criteria) {
     CV_UNUSED(intrinsic_flags);
     const int NUM_FRAMES = (int)objPoints_norm.size();
     const int NUM_CAMERAS = (int)detection_mask_mat.size();
@@ -308,7 +308,8 @@ static void pairwiseRegistration (const std::vector<std::pair<int,int>> &pairs,
         registerCameras(grid_points1, grid_points2, image_points1, image_points2,
                         Ks[c1], distortions[c1], cv::CameraModel(models.at<uchar>(c1)),
                         Ks[c2], distortions[c2], cv::CameraModel(models.at<uchar>(c2)),
-                        R, T, noArray(), noArray(), noArray(), noArray(), noArray(), extrinsic_flags);
+                        R, T, noArray(), noArray(), noArray(), noArray(), noArray(),
+                        extrinsic_flags, criteria);
 
         // R_0 = I
         // R_ij = R_i R_j^T     =>  R_i = R_ij R_j
@@ -328,7 +329,7 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
         const std::vector<std::vector<Mat>> &imagePoints, const std::vector<std::vector<int>> &overlaps,
         const std::vector<std::vector<bool>> &detection_mask_mat, const std::vector<Mat> &Ks,
         const std::vector<Mat> &distortions, std::vector<Matx33d> &Rs_vec, std::vector<Vec3d> &Ts_vec,
-        Mat &intrinsic_flags, int extrinsic_flags = 0) {
+        Mat &intrinsic_flags, int extrinsic_flags, TermCriteria criteria) {
     const int NUM_FRAMES = (int)objPoints_norm.size();
     const int NUM_CAMERAS = (int)detection_mask_mat.size();
     std::vector<Matx33d> Rs_prior;
@@ -375,7 +376,8 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
             fisheye::stereoCalibrate(grid_points, image_points1, image_points2,
                             Ks[c1], distortions[c1],
                             Ks[c2], distortions[c2],
-                            Size(), R, T, extrinsic_flags);
+                            Size(), R, T,
+                            extrinsic_flags, criteria);
         } else {
             extrinsic_flags |= CALIB_FIX_INTRINSIC;
             if ((intrinsic_flags.at<int>(c1) & CALIB_RATIONAL_MODEL) || (intrinsic_flags.at<int>(c2) & CALIB_RATIONAL_MODEL))
@@ -386,7 +388,8 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
             stereoCalibrate(grid_points, image_points1, image_points2,
                             Ks[c1], distortions[c1],
                             Ks[c2], distortions[c2],
-                            Size(), R, T, noArray(), noArray(), noArray(), extrinsic_flags);
+                            Size(), R, T, noArray(), noArray(), noArray(),
+                            extrinsic_flags, criteria);
         }
 
         // R_0 = I
@@ -576,7 +579,7 @@ double calibrateMultiview(
         InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts,
         OutputArray initializationPairs, OutputArrayOfArrays rvecs0,
         OutputArrayOfArrays tvecs0, OutputArray perFrameErrors,
-        InputArray flagsForIntrinsics, int flags) {
+        InputArray flagsForIntrinsics, int flags, TermCriteria criteria) {
     CV_CheckFalse(objPoints.empty(), "Objects points must not be empty!");
     CV_CheckFalse(imagePoints.empty(), "Image points must not be empty!");
     CV_CheckFalse(imageSize.empty(), "Image size per camera must not be empty!");
@@ -801,10 +804,10 @@ double calibrateMultiview(
 
     if(flags & cv::CALIB_STEREO_REGISTRATION) {
         multiview::pairwiseStereoCalibration(pairs, models_mat, objPoints_norm, imagePoints,
-            overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat);
+            overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat, 0, criteria);
     } else {
         multiview::pairwiseRegistration(pairs, models_mat, objPoints_norm, imagePoints,
-            overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat);
+            overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat, 0, criteria);
     }
 
     const int NUM_VALID_FRAMES = countNonZero(valid_frames);
@@ -853,10 +856,9 @@ double calibrateMultiview(
         cnt_valid_frame++;
     }
 
-    TermCriteria termCrit (TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6);
     const float RBS_FNC_SCALE = 30;
     multiview::RobustExpFunction robust_fnc(RBS_FNC_SCALE);
-    multiview::optimizeLM(param, robust_fnc, termCrit, valid_frames, detection_mask_mat, objPoints_norm,
+    multiview::optimizeLM(param, robust_fnc, criteria, valid_frames, detection_mask_mat, objPoints_norm,
                           imagePoints, Ks_vec, distortions_vec, models_mat, NUM_PATTERN_PTS);
     const auto * const params = &param[0];
 
@@ -967,10 +969,10 @@ double calibrateMultiview(
         const std::vector<cv::Size>& imageSize, InputArray detectionMask, InputArray models,
         InputOutputArrayOfArrays Ks, InputOutputArrayOfArrays distortions,
         InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts,
-        InputArray flagsForIntrinsics, int flags) {
+        InputArray flagsForIntrinsics, int flags, TermCriteria criteria) {
 
     return calibrateMultiview(objPoints, imagePoints, imageSize, detectionMask, models, Ks, distortions,
-                              Rs, Ts, noArray(), noArray(), noArray(), noArray(), flagsForIntrinsics, flags);
+                Rs, Ts, noArray(), noArray(), noArray(), noArray(), flagsForIntrinsics, flags, criteria);
 }
 
 
diff --git a/modules/calib/test/test_multiview_calib.cpp b/modules/calib/test/test_multiview_calib.cpp
index e3c5b0e367..0df18e12f1 100644
--- a/modules/calib/test/test_multiview_calib.cpp
+++ b/modules/calib/test/test_multiview_calib.cpp
@@ -302,7 +302,8 @@ TEST_F(MultiViewTest, OneLine)
     std::vector<std::vector<cv::Mat>> image_points_all;
     cv::Mat visibility;
     loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
-    EXPECT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_TRUE(!image_points_all.empty());
     for(size_t i = 0; i < cam_names.size(); i++)
     {
         EXPECT_TRUE(!image_points_all[i].empty());
@@ -475,7 +476,8 @@ TEST_F(MultiViewTest, CamsToFloor)
     std::vector<std::vector<cv::Mat>> image_points_all;
     cv::Mat visibility;
     loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
-    EXPECT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_TRUE(!image_points_all.empty());
     for(size_t i = 0; i < cam_names.size(); i++)
     {
         EXPECT_TRUE(!image_points_all[i].empty());
@@ -542,7 +544,8 @@ TEST_F(MultiViewTest, Hetero)
     std::vector<std::vector<cv::Mat>> image_points_all;
     cv::Mat visibility;
     loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
-    EXPECT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_TRUE(!image_points_all.empty());
     for(size_t i = 0; i < cam_names.size(); i++)
     {
         EXPECT_TRUE(!image_points_all[i].empty());
@@ -613,10 +616,11 @@ TEST_F(RegisterCamerasTest, hetero1)
     std::vector<std::vector<cv::Mat>> image_points_all;
     cv::Mat visibility;
     loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
-    EXPECT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_TRUE(!image_points_all.empty());
     for(size_t i = 0; i < cam_names.size(); i++)
     {
-        EXPECT_TRUE(!image_points_all[i].empty());
+        ASSERT_TRUE(!image_points_all[i].empty());
     }
 
     cv::Mat K1, dist1;
@@ -670,10 +674,11 @@ TEST_F(RegisterCamerasTest, hetero2)
     std::vector<std::vector<cv::Mat>> image_points_all;
     cv::Mat visibility;
     loadImagePoints(root, cam_names, num_frames, image_points_all, visibility);
-    EXPECT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_EQ(cam_names.size(), image_points_all.size());
+    ASSERT_TRUE(!image_points_all.empty());
     for(size_t i = 0; i < cam_names.size(); i++)
     {
-        EXPECT_TRUE(!image_points_all[i].empty());
+        ASSERT_TRUE(!image_points_all[i].empty());
     }
 
     cv::Mat K1, dist1;