diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index aadfff7b1c..0280e05e21 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -48,6 +48,7 @@
 #include "opencv2/core/types.hpp"
 #include "opencv2/features2d.hpp"
 #include "opencv2/core/affine.hpp"
+#include "opencv2/core/utils/logger.hpp"
 
 /**
   @defgroup calib3d Camera Calibration and 3D Reconstruction
diff --git a/modules/calib3d/src/calibration_handeye.cpp b/modules/calib3d/src/calibration_handeye.cpp
index ab20597c8b..cd4999a618 100644
--- a/modules/calib3d/src/calibration_handeye.cpp
+++ b/modules/calib3d/src/calibration_handeye.cpp
@@ -289,13 +289,12 @@ static void calibrateHandEyeTsai(const std::vector<Mat>& Hg, const std::vector<M
     int idx = 0;
     for (size_t i = 0; i < Hg.size(); i++)
     {
-        for (size_t j = i+1; j < Hg.size(); j++, idx++)
+        for (size_t j = i+1; j < Hg.size(); j++)
         {
             //Defines coordinate transformation from Gi to Gj
             //Hgi is from Gi (gripper) to RW (robot base)
             //Hgj is from Gj (gripper) to RW (robot base)
             Mat Hgij = homogeneousInverse(Hg[j]) * Hg[i]; //eq 6
-            vec_Hgij.push_back(Hgij);
             //Rotation axis for Rgij which is the 3D rotation from gripper coordinate frame Gi to Gj
             Mat Pgij = 2*rot2quatMinimal(Hgij);
 
@@ -303,18 +302,42 @@ static void calibrateHandEyeTsai(const std::vector<Mat>& Hg, const std::vector<M
             //Hci is from CW (calibration target) to Ci (camera)
             //Hcj is from CW (calibration target) to Cj (camera)
             Mat Hcij = Hc[j] * homogeneousInverse(Hc[i]); //eq 7
-            vec_Hcij.push_back(Hcij);
             //Rotation axis for Rcij
             Mat Pcij = 2*rot2quatMinimal(Hcij);
 
+            // Discard motions with rotation too small or too close to pi radians
+            //   The limits 1.7 and 0.3 correspond to angles less than 17 degrees or greater than 120 degrees. They are
+            //   based on verifying equation 12 from the source paper using data generated with a known hand-eye
+            //   calibration. The data contained 25 poses, so 300 motions were considered. Of these, 188 satisfied
+            //   equation 12, and the remaining 112 all had Pcij or Pgij with norms greater than 1.7. Although errors
+            //   from small rotations were not observed, it is known that these motions are less informative (see
+            //   section II.B.3, and figure 6).
+            double Pgij_norm = cv::norm(Pgij);
+            double Pcij_norm = cv::norm(Pcij);
+            if (Pgij_norm < 0.3 || Pcij_norm < 0.3 || Pgij_norm > 1.7 || Pcij_norm > 1.7) {
+                continue;
+            }
+
+            vec_Hgij.push_back(Hgij);
+            vec_Hcij.push_back(Hcij);
+
             //Left-hand side: skew(Pgij+Pcij)
             skew(Pgij+Pcij).copyTo(A(Rect(0, idx*3, 3, 3)));
             //Right-hand side: Pcij - Pgij
             Mat diff = Pcij - Pgij;
             diff.copyTo(B(Rect(0, idx*3, 1, 3)));
+            idx++;
         }
     }
 
+    // insufficient data
+    if (idx < 2) {
+        CV_LOG_ERROR(NULL, "Hand-eye calibration failed! Not enough informative motions--include larger rotations.");
+        return;
+    }
+    A.resize(3*idx);
+    B.resize(3*idx);
+
     Mat Pcg_;
     //Rotation from camera to gripper is obtained from the set of equations:
     //    skew(Pgij+Pcij) * Pcg_ = Pcij - Pgij    (eq 12)
@@ -327,28 +350,24 @@ static void calibrateHandEyeTsai(const std::vector<Mat>& Hg, const std::vector<M
 
     Mat Rcg = quatMinimal2rot(Pcg/2.0);
 
-    idx = 0;
-    for (size_t i = 0; i < Hg.size(); i++)
+    for (size_t i = 0; i < vec_Hgij.size(); i++)
     {
-        for (size_t j = i+1; j < Hg.size(); j++, idx++)
-        {
-            //Defines coordinate transformation from Gi to Gj
-            //Hgi is from Gi (gripper) to RW (robot base)
-            //Hgj is from Gj (gripper) to RW (robot base)
-            Mat Hgij = vec_Hgij[static_cast<size_t>(idx)];
-            //Defines coordinate transformation from Ci to Cj
-            //Hci is from CW (calibration target) to Ci (camera)
-            //Hcj is from CW (calibration target) to Cj (camera)
-            Mat Hcij = vec_Hcij[static_cast<size_t>(idx)];
+        //Defines coordinate transformation from Gi to Gj
+        //Hgi is from Gi (gripper) to RW (robot base)
+        //Hgj is from Gj (gripper) to RW (robot base)
+        Mat Hgij = vec_Hgij[i];
+        //Defines coordinate transformation from Ci to Cj
+        //Hci is from CW (calibration target) to Ci (camera)
+        //Hcj is from CW (calibration target) to Cj (camera)
+        Mat Hcij = vec_Hcij[i];
 
-            //Left-hand side: (Rgij - I)
-            Mat diff = Hgij(Rect(0,0,3,3)) - Mat::eye(3,3,CV_64FC1);
-            diff.copyTo(A(Rect(0, idx*3, 3, 3)));
+        //Left-hand side: (Rgij - I)
+        Mat diff = Hgij(Rect(0,0,3,3)) - Mat::eye(3,3,CV_64FC1);
+        diff.copyTo(A(Rect(0, static_cast<int>(i)*3, 3, 3)));
 
-            //Right-hand side: Rcg*Tcij - Tgij
-            diff = Rcg*Hcij(Rect(3, 0, 1, 3)) - Hgij(Rect(3, 0, 1, 3));
-            diff.copyTo(B(Rect(0, idx*3, 1, 3)));
-        }
+        //Right-hand side: Rcg*Tcij - Tgij
+        diff = Rcg*Hcij(Rect(3, 0, 1, 3)) - Hgij(Rect(3, 0, 1, 3));
+        diff.copyTo(B(Rect(0, static_cast<int>(i)*3, 1, 3)));
     }
 
     Mat Tcg;
@@ -449,6 +468,9 @@ static void calibrateHandEyeHoraud(const std::vector<Mat>& Hg, const std::vector
             Mat Rcij = Hcij(Rect(0, 0, 3, 3));
 
             Mat qgij = rot2quat(Rgij);
+            if (qgij.at<double>(0, 0) < 0) {
+                qgij *= -1;
+            }
             double r0 = qgij.at<double>(0,0);
             double rx = qgij.at<double>(1,0);
             double ry = qgij.at<double>(2,0);
@@ -461,6 +483,9 @@ static void calibrateHandEyeHoraud(const std::vector<Mat>& Hg, const std::vector
                         rz, -ry,  rx,  r0);
 
             Mat qcij = rot2quat(Rcij);
+            if (qcij.at<double>(0, 0) < 0) {
+                qcij *= -1;
+            }
             r0 = qcij.at<double>(0,0);
             rx = qcij.at<double>(1,0);
             ry = qcij.at<double>(2,0);
@@ -618,7 +643,13 @@ static void calibrateHandEyeDaniilidis(const std::vector<Mat>& Hg, const std::ve
             Mat Hcij = Hc[j] * homogeneousInverse(Hc[i]);
 
             Mat dualqa = homogeneous2dualQuaternion(Hgij);
+            if (dualqa.at<double>(0, 0) < 0) {
+                dualqa *= -1;
+            }
             Mat dualqb = homogeneous2dualQuaternion(Hcij);
+            if (dualqb.at<double>(0, 0) < 0) {
+                dualqb *= -1;
+            }
 
             Mat a = dualqa(Rect(0, 1, 1, 3));
             Mat b = dualqb(Rect(0, 1, 1, 3));
diff --git a/modules/calib3d/test/test_calibration_hand_eye.cpp b/modules/calib3d/test/test_calibration_hand_eye.cpp
index aa8b34d6d9..edfc5fec0e 100644
--- a/modules/calib3d/test/test_calibration_hand_eye.cpp
+++ b/modules/calib3d/test/test_calibration_hand_eye.cpp
@@ -756,4 +756,110 @@ TEST(Calib3d_CalibrateRobotWorldHandEye, regression)
     }
 }
 
+TEST(Calib3d_CalibrateHandEye, regression_24871)
+{
+    std::vector<Mat> R_target2cam, t_target2cam;
+    std::vector<Mat> R_gripper2base, t_gripper2base;
+    Mat T_true_cam2gripper;
+
+    T_true_cam2gripper = (cv::Mat_<double>(4, 4) <<  0,  0, -1, 0.1,
+                                                     1,  0,  0, 0.2,
+                                                     0, -1,  0, 0.3,
+                                                     0,  0,  0, 1);
+
+    R_target2cam.push_back((cv::Mat_<double>(3, 3) <<
+            0.04964505493834381, 0.5136826827431226, 0.8565427426404346,
+            -0.3923117691818854, 0.7987004864191318, -0.4562554205214679,
+            -0.9184916136152514, -0.3133809733274676, 0.2411752915926112));
+    t_target2cam.push_back((cv::Mat_<double>(3, 1) <<
+            -1.588728904724121,
+            0.07843752950429916,
+            -1.002813339233398));
+
+    R_gripper2base.push_back((cv::Mat_<double>(3, 3) <<
+            -0.4143743581399177, -0.6105088815982459, -0.6749613298595637,
+            -0.1598851232573451, -0.6812625208693498, 0.71436554019614,
+            -0.895952364066927, 0.4039310376145889, 0.1846864320259794));
+    t_gripper2base.push_back((cv::Mat_<double>(3, 1) <<
+            -1.249274406461827,
+            -1.916570771580279,
+            2.005069553422765));
+
+    R_target2cam.push_back((cv::Mat_<double>(3, 3) <<
+            -0.3048000068139332, 0.6971848192711539, 0.6488684640388026,
+            -0.9377589344241749, -0.3387497187353627, -0.07652979135179161,
+            0.1664486009369332, -0.6318084803439735, 0.7570422097951847));
+    t_target2cam.push_back((cv::Mat_<double>(3, 1) <<
+            -1.906493663787842,
+            -0.07281044125556946,
+            0.6088893413543701));
+
+    R_gripper2base.push_back((cv::Mat_<double>(3, 3) <<
+            0.7262439860936567, -0.201662933718935, -0.6571923111439066,
+            -0.4640017362244384, -0.8491808316335328, -0.2521791108852766,
+            -0.5072199339965884, 0.4880819361030014, -0.7102844234575628));
+    t_gripper2base.push_back((cv::Mat_<double>(3, 1) <<
+            -0.7375172846804027,
+            -2.579760910816792,
+            1.336561572270101));
+
+    R_target2cam.push_back((cv::Mat_<double>(3, 3) <<
+            -0.590234879685801, -0.7051138289845309, -0.3929850823848928,
+            0.6017371069678565, -0.7088332765096816, 0.3680595606834615,
+            -0.5380847896941907, -0.01923211603859842, 0.8426712792141644));
+    t_target2cam.push_back((cv::Mat_<double>(3, 1) <<
+            -0.9809040427207947,
+            -0.2707894444465637,
+            -0.2577074766159058));
+
+    R_gripper2base.push_back((cv::Mat_<double>(3, 3) <<
+            0.2541996332132083, 0.6186461729765909, 0.7434106934499181,
+            0.2194912986375709, 0.711701808961156, -0.6673111005698995,
+            -0.9419161938817396, 0.3328024155303503, 0.04512688689130734));
+    t_gripper2base.push_back((cv::Mat_<double>(3, 1) <<
+            -1.040123533893404,
+            -0.1303773962721222,
+            1.068029475621886));
+
+    R_target2cam.push_back((cv::Mat_<double>(3, 3) <<
+            0.7643667483125168, -0.08523002870239212, 0.63912386614923,
+            -0.2583463792779588, 0.8676987164647345, 0.424683512464778,
+            -0.5907627462764713, -0.489729292214425, 0.6412211770980741));
+    t_target2cam.push_back((cv::Mat_<double>(3, 1) <<
+            -1.58987033367157,
+            -1.924914002418518,
+            -0.3109001517295837));
+
+    R_gripper2base.push_back((cv::Mat_<double>(3, 3) <<
+            0.116348305340805, -0.9917998080681939, 0.0528792261688552,
+            -0.2760629007224059, 0.01884966191381591, 0.9609547154213178,
+            -0.9540714578526358, -0.1264034452126562, -0.2716060057313114));
+    t_gripper2base.push_back((cv::Mat_<double>(3, 1) <<
+            -2.551899142554571,
+            -2.986937398237611,
+            1.317613923218308));
+
+    Mat R_true_cam2gripper;
+    Mat t_true_cam2gripper;
+    R_true_cam2gripper = T_true_cam2gripper(Rect(0, 0, 3, 3));
+    t_true_cam2gripper = T_true_cam2gripper(Rect(3, 0, 1, 3));
+
+    std::vector<HandEyeCalibrationMethod> methods = {CALIB_HAND_EYE_TSAI,
+                                                     CALIB_HAND_EYE_PARK,
+                                                     CALIB_HAND_EYE_HORAUD,
+                                                     CALIB_HAND_EYE_ANDREFF,
+                                                     CALIB_HAND_EYE_DANIILIDIS};
+
+    for (auto method : methods) {
+        SCOPED_TRACE(cv::format("method=%s", getMethodName(method).c_str()));
+
+        Matx33d R_cam2gripper_est;
+        Matx31d t_cam2gripper_est;
+        calibrateHandEye(R_gripper2base, t_gripper2base, R_target2cam, t_target2cam, R_cam2gripper_est, t_cam2gripper_est, method);
+
+        EXPECT_TRUE(cv::norm(R_cam2gripper_est - R_true_cam2gripper) < 1e-9);
+        EXPECT_TRUE(cv::norm(t_cam2gripper_est - t_true_cam2gripper) < 1e-9);
+    }
+}
+
 }} // namespace