diff --git a/3rdparty/ippicv/ippicv.cmake b/3rdparty/ippicv/ippicv.cmake
index 1c711d8847..744c45882e 100644
--- a/3rdparty/ippicv/ippicv.cmake
+++ b/3rdparty/ippicv/ippicv.cmake
@@ -2,9 +2,10 @@ function(download_ippicv root_var)
   set(${root_var} "" PARENT_SCOPE)
 
   # Commit SHA in the opencv_3rdparty repo
-  set(IPPICV_COMMIT "c7c6d527dde5fee7cb914ee9e4e20f7436aab3a1")
+  set(IPPICV_COMMIT "fd27188235d85e552de31425e7ea0f53ba73ba53")
   # Define actual ICV versions
   if(APPLE)
+    set(IPPICV_COMMIT "0cc4aa06bf2bef4b05d237c69a5a96b9cd0cb85a")
     set(OPENCV_ICV_PLATFORM "macosx")
     set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_mac")
     set(OPENCV_ICV_NAME "ippicv_2021.9.1_mac_intel64_20230919_general.tgz")
@@ -13,21 +14,21 @@ function(download_ippicv root_var)
     set(OPENCV_ICV_PLATFORM "linux")
     set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_lnx")
     if(X86_64)
-      set(OPENCV_ICV_NAME "ippicv_2021.10.1_lnx_intel64_20231206_general.tgz")
-      set(OPENCV_ICV_HASH "90884d3b9508f31f6a154165591b8b0b")
+      set(OPENCV_ICV_NAME "ippicv_2021.11.0_lnx_intel64_20240201_general.tgz")
+      set(OPENCV_ICV_HASH "0f2745ff705ecae31176dad437608f6f")
     else()
-      set(OPENCV_ICV_NAME "ippicv_2021.10.1_lnx_ia32_20231206_general.tgz")
-      set(OPENCV_ICV_HASH "d9510f3ce08f6074aac472a5c19a3b53")
+      set(OPENCV_ICV_NAME "ippicv_2021.11.0_lnx_ia32_20240201_general.tgz")
+      set(OPENCV_ICV_HASH "63e381bf08076ca34fd5264203043a45")
     endif()
   elseif(WIN32 AND NOT ARM)
     set(OPENCV_ICV_PLATFORM "windows")
     set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_win")
     if(X86_64)
-      set(OPENCV_ICV_NAME "ippicv_2021.10.1_win_intel64_20231206_general.zip")
-      set(OPENCV_ICV_HASH "2d5f137d4dd8a5205cc1edb5616fb3da")
+      set(OPENCV_ICV_NAME "ippicv_2021.11.0_win_intel64_20240201_general.zip")
+      set(OPENCV_ICV_HASH "59d154bf54a1e3eea20d7248f81a2a8e")
     else()
-      set(OPENCV_ICV_NAME "ippicv_2021.10.1_win_ia32_20231206_general.zip")
-      set(OPENCV_ICV_HASH "63c41a943e93ca87541b71ab67f207b5")
+      set(OPENCV_ICV_NAME "ippicv_2021.11.0_win_ia32_20240201_general.zip")
+      set(OPENCV_ICV_HASH "7a6d8ac5825c02fea6cbfc1201b521b5")
     endif()
   else()
     return()
diff --git a/3rdparty/libjpeg-turbo/CMakeLists.txt b/3rdparty/libjpeg-turbo/CMakeLists.txt
index 6e508c8860..a995707852 100644
--- a/3rdparty/libjpeg-turbo/CMakeLists.txt
+++ b/3rdparty/libjpeg-turbo/CMakeLists.txt
@@ -56,8 +56,7 @@ if(MSVC_IDE AND CMAKE_GENERATOR_PLATFORM MATCHES "arm64")
   set(CPU_TYPE arm64)
 endif()
 
-OCV_OPTION(ENABLE_LIBJPEG_TURBO_SIMD "Include SIMD extensions for libjpeg-turbo, if available for this platform" (NOT CV_DISABLE_OPTIMIZATION)
-  VISIBLE_IF BUILD_JPEG)
+OCV_OPTION(ENABLE_LIBJPEG_TURBO_SIMD "Include SIMD extensions for libjpeg-turbo, if available for this platform" (NOT CV_DISABLE_OPTIMIZATION))
 option(WITH_ARITH_ENC "Include arithmetic encoding support when emulating the libjpeg v6b API/ABI" TRUE)
 option(WITH_ARITH_DEC "Include arithmetic decoding support when emulating the libjpeg v6b API/ABI" TRUE)
 set(WITH_SIMD 1)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0789a090d..56767f2ec7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1424,7 +1424,7 @@ status("    ZLib:"   ZLIB_FOUND THEN "${ZLIB_LIBRARIES} (ver ${ZLIB_VERSION_STRI
 if(WITH_JPEG OR HAVE_JPEG)
   if(NOT HAVE_JPEG)
     status("    JPEG:" NO)
-  elseif(BUILD_JPEG)
+  elseif(BUILD_JPEG OR NOT JPEG_FOUND)
     status("    JPEG:" "build-${JPEG_LIBRARY} (ver ${JPEG_LIB_VERSION})")
     if(ENABLE_LIBJPEG_TURBO_SIMD)
       status("      SIMD Support Request:" "YES")
diff --git a/doc/tutorials/objdetect/aruco_board_detection/aruco_board_detection.markdown b/doc/tutorials/objdetect/aruco_board_detection/aruco_board_detection.markdown
index 87f5fb8d63..56eb1a75d1 100644
--- a/doc/tutorials/objdetect/aruco_board_detection/aruco_board_detection.markdown
+++ b/doc/tutorials/objdetect/aruco_board_detection/aruco_board_detection.markdown
@@ -2,8 +2,7 @@ Detection of ArUco boards {#tutorial_aruco_board_detection}
 =========================
 
 @prev_tutorial{tutorial_aruco_detection}
-@next_tutorial{tutorial_barcode_detect_and_decode}
-
+@next_tutorial{tutorial_charuco_detection}
 
 |    |    |
 | -: | :- |
diff --git a/doc/tutorials/objdetect/aruco_calibration/aruco_calibration.markdown b/doc/tutorials/objdetect/aruco_calibration/aruco_calibration.markdown
new file mode 100644
index 0000000000..e36e335d4f
--- /dev/null
+++ b/doc/tutorials/objdetect/aruco_calibration/aruco_calibration.markdown
@@ -0,0 +1,88 @@
+Calibration with ArUco and ChArUco {#tutorial_aruco_calibration}
+==================================
+
+@prev_tutorial{tutorial_charuco_diamond_detection}
+@next_tutorial{tutorial_aruco_faq}
+
+The ArUco module can also be used to calibrate a camera. Camera calibration consists in obtaining the
+camera intrinsic parameters and distortion coefficients. This parameters remain fixed unless the camera
+optic is modified, thus camera calibration only need to be done once.
+
+Camera calibration is usually performed using the OpenCV `cv::calibrateCamera()` function. This function
+requires some correspondences between environment points and their projection in the camera image from
+different viewpoints. In general, these correspondences are obtained from the corners of chessboard
+patterns. See `cv::calibrateCamera()` function documentation or the OpenCV calibration tutorial for
+more detailed information.
+
+Using the ArUco module, calibration can be performed based on ArUco markers corners or ChArUco corners.
+Calibrating using ArUco is much more versatile than using traditional chessboard patterns, since it
+allows occlusions or partial views.
+
+As it can be stated, calibration can be done using both, marker corners or ChArUco corners. However,
+it is highly recommended using the ChArUco corners approach since the provided corners are much
+more accurate in comparison to the marker corners. Calibration using a standard Board should only be
+employed in those scenarios where the ChArUco boards cannot be employed because of any kind of restriction.
+
+Calibration with ChArUco Boards
+-------------------------------
+
+To calibrate using a ChArUco board, it is necessary to detect the board from different viewpoints, in the
+same way that the standard calibration does with the traditional chessboard pattern. However, due to the
+benefits of using ChArUco, occlusions and partial views are allowed, and not all the corners need to be
+visible in all the viewpoints.
+
+![ChArUco calibration viewpoints](images/charucocalibration.jpg)
+
+The example of using `cv::calibrateCamera()` for cv::aruco::CharucoBoard:
+
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp CalibrationWithCharucoBoard1
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp CalibrationWithCharucoBoard2
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp CalibrationWithCharucoBoard3
+
+The ChArUco corners and ChArUco identifiers captured on each viewpoint are stored in the vectors
+`allCharucoCorners` and `allCharucoIds`, one element per viewpoint.
+
+The `calibrateCamera()` function will fill the `cameraMatrix` and `distCoeffs` arrays with the
+camera calibration parameters. It will return the reprojection error obtained from the calibration.
+The elements in `rvecs` and `tvecs` will be filled with the estimated pose of the camera
+(respect to the ChArUco board) in each of the viewpoints.
+
+Finally, the `calibrationFlags` parameter determines some of the options for the calibration.
+
+A full working example is included in the `calibrate_camera_charuco.cpp` inside the
+`samples/cpp/tutorial_code/objectDetection` folder.
+
+The samples now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    "camera_calib.txt" -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10
+    -v=path/img_%02d.jpg
+@endcode
+
+The camera calibration parameters from `opencv/samples/cpp/tutorial_code/objectDetection/tutorial_camera_charuco.yml`
+were obtained by the `img_00.jpg-img_03.jpg` placed from this
+[folder](https://github.com/opencv/opencv_contrib/tree/4.6.0/modules/aruco/tutorials/aruco_calibration/images).
+
+Calibration with ArUco Boards
+-----------------------------
+
+As it has been stated, it is recommended the use of ChAruco boards instead of ArUco boards for camera
+calibration, since ChArUco corners are more accurate than marker corners. However, in some special cases
+it must be required to use calibration based on ArUco boards. As in the previous case, it requires
+the detections of an ArUco board from different viewpoints.
+
+![ArUco calibration viewpoints](images/arucocalibration.jpg)
+
+The example of using `cv::calibrateCamera()` for cv::aruco::GridBoard:
+
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp CalibrationWithArucoBoard1
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp CalibrationWithArucoBoard2
+@snippet samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp CalibrationWithArucoBoard3
+
+A full working example is included in the `calibrate_camera.cpp` inside the `samples/cpp/tutorial_code/objectDetection` folder.
+
+The samples now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    "camera_calib.txt" -w=5 -h=7 -l=100 -s=10 -d=10 -v=path/aruco_videos_or_images
+@endcode
diff --git a/doc/tutorials/objdetect/aruco_calibration/images/arucocalibration.jpg b/doc/tutorials/objdetect/aruco_calibration/images/arucocalibration.jpg
new file mode 100644
index 0000000000..9a86015049
Binary files /dev/null and b/doc/tutorials/objdetect/aruco_calibration/images/arucocalibration.jpg differ
diff --git a/doc/tutorials/objdetect/aruco_calibration/images/charucocalibration.jpg b/doc/tutorials/objdetect/aruco_calibration/images/charucocalibration.jpg
new file mode 100644
index 0000000000..ed45382cd0
Binary files /dev/null and b/doc/tutorials/objdetect/aruco_calibration/images/charucocalibration.jpg differ
diff --git a/doc/tutorials/objdetect/aruco_faq/aruco_faq.markdown b/doc/tutorials/objdetect/aruco_faq/aruco_faq.markdown
new file mode 100644
index 0000000000..c17ed2f059
--- /dev/null
+++ b/doc/tutorials/objdetect/aruco_faq/aruco_faq.markdown
@@ -0,0 +1,191 @@
+Aruco module FAQ {#tutorial_aruco_faq}
+================
+
+@prev_tutorial{tutorial_aruco_calibration}
+@next_tutorial{tutorial_barcode_detect_and_decode}
+
+This is a compilation of questions that can be useful for those that want to use the aruco module.
+
+- I only want to label some objects, what should I use?
+
+In this case, you only need single ArUco markers. You can place one or several markers with different
+ids in each of the object you want to identify.
+
+
+- Which algorithm is used for marker detection?
+
+The aruco module is based on the original ArUco library. A full description of the detection process
+can be found in:
+
+> S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
+> "Automatic generation and detection of highly reliable fiducial markers under occlusion".
+> Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
+
+
+- My markers are not being detected correctly, what can I do?
+
+There can be many factors that avoid the correct detection of markers. You probably need to adjust
+some of the parameters in the `cv::aruco::DetectorParameters` object. The first thing you can do is
+checking if your markers are returned as rejected candidates by the `cv::aruco::ArucoDetector::detectMarkers()`
+function. Depending on this, you should try to modify different parameters.
+
+If you are using a ArUco board, you can also try the `cv::aruco::ArucoDetector::refineDetectedMarkers()` function.
+If you are [using big markers](https://github.com/opencv/opencv_contrib/issues/2811) (400x400 pixels and more), try
+increasing `cv::aruco::DetectorParameters::adaptiveThreshWinSizeMax` value.
+Also avoid [narrow borders around the ArUco marker](https://github.com/opencv/opencv_contrib/issues/2492)
+(5% or less of the marker perimeter, adjusted by `cv::aruco::DetectorParameters::minMarkerDistanceRate`)
+around markers.
+
+
+- What are the benefits of ArUco boards? What are the drawbacks?
+
+Using a board of markers you can obtain the camera pose from a set of markers, instead of a single one.
+This way, the detection is able to handle occlusion of partial views of the Board, since only one
+marker is necessary to obtain the pose.
+
+Furthermore, as in most cases you are using more corners for pose estimation, it will be more
+accurate than using a single marker.
+
+The main drawback is that a Board is not as versatile as a single marker.
+
+
+
+- What are the benefits of ChArUco boards over ArUco boards? And the drawbacks?
+
+ChArUco boards combines chessboards with ArUco boards. Thanks to this, the corners provided by
+ChArUco boards are more accurate than those provided by ArUco Boards (or single markers).
+
+The main drawback is that ChArUco boards are not as versatile as ArUco board. For instance,
+a ChArUco board is a planar board with a specific marker layout while the ArUco boards can have
+any layout, even in 3d. Furthermore, the markers in the ChArUco board are usually smaller and
+more difficult to detect.
+
+
+- I do not need pose estimation, should I use ChArUco boards?
+
+No. The main goal of ChArUco boards is provide high accurate corners for pose estimation or camera
+calibration.
+
+
+- Should all the markers in an ArUco board be placed in the same plane?
+
+No, the marker corners in a ArUco board can be placed anywhere in its 3d coordinate system.
+
+
+- Should all the markers in an ChArUco board be placed in the same plane?
+
+Yes, all the markers in a ChArUco board need to be in the same plane and their layout is fixed by
+the chessboard shape.
+
+
+- What is the difference between a `cv::aruco::Board` object and a `cv::aruco::GridBoard` object?
+
+The `cv::aruco::GridBoard` class is a specific type of board that inherits from `cv::aruco::Board` class.
+A `cv::aruco::GridBoard` object is a board whose markers are placed in the same plane and in a grid layout.
+
+
+- What are Diamond markers?
+
+Diamond markers are very similar to a ChArUco board of 3x3 squares. However, contrary to ChArUco boards,
+the detection of diamonds is based on the relative position of the markers.
+They are useful when you want to provide a conceptual meaning to any (or all) of the markers in
+the diamond. An example is using one of the marker to provide the diamond scale.
+
+
+- Do I need to detect marker before board detection, ChArUco board detection or Diamond detection?
+
+Yes, the detection of single markers is a basic tool in the aruco module. It is done using the
+`cv::aruco::DetectorParameters::detectMarkers()` function. The rest of functionalities receives
+a list of detected markers from this function.
+
+
+- I want to calibrate my camera, can I use this module?
+
+Yes, the aruco module provides functionalities to calibrate the camera using both, ArUco boards and
+ChArUco boards.
+
+
+- Should I calibrate using a ChArUco board or an ArUco board?
+
+It is highly recommended the calibration using ChArUco board due to the high accuracy.
+
+
+- Should I use a predefined dictionary or generate my own dictionary?
+
+In general, it is easier to use one of the predefined dictionaries. However, if you need a bigger
+dictionary (in terms of number of markers or number of bits) you should generate your own dictionary.
+Dictionary generation is also useful if you want to maximize the inter-marker distance to achieve
+a better error correction during the identification step.
+
+- I am generating my own dictionary but it takes too long
+
+Dictionary generation should only be done once at the beginning of your application and it should take
+some seconds. If you are generating the dictionary on each iteration of your detection loop, you are
+doing it wrong.
+
+Furthermore, it is recommendable to save the dictionary to a file with `cv::aruco::Dictionary::writeDictionary()`
+and read it with `cv::aruco::Dictionary::readDictionary()` on every execution, so you don't need
+to generate it.
+
+
+- I would like to use some markers of the original ArUco library that I have already printed, can I use them?
+
+Yes, one of the predefined dictionary is `cv::aruco::DICT_ARUCO_ORIGINAL`, which detects the marker
+of the original ArUco library with the same identifiers.
+
+
+- Can I use the Board configuration file of the original ArUco library in this module?
+
+Not directly, you will need to adapt the information of the ArUco file to the aruco module Board format.
+
+
+- Can I use this module to detect the markers of other libraries based on binary fiducial markers?
+
+Probably yes, however you will need to port the dictionary of the original library to the aruco module format.
+
+
+- Do I need to store the Dictionary information in a file so I can use it in different executions?
+
+If you are using one of the predefined dictionaries, it is not necessary. Otherwise, it is recommendable
+that you save it to file.
+
+
+- Do I need to store the Board information in a file so I can use it in different executions?
+
+If you are using a `cv::aruco::GridBoard` or a `cv::aruco::CharucoBoard` you only need to store
+the board measurements that are provided to the `cv::aruco::GridBoard::GridBoard()` constructor or
+in or `cv::aruco::CharucoBoard` constructor. If you manually modify the marker ids of the boards,
+or if you use a different type of board, you should save your board object to file.
+
+- Does the aruco module provide functions to save the Dictionary or Board to file?
+
+You can use `cv::aruco::Dictionary::writeDictionary()` and `cv::aruco::Dictionary::readDictionary()`
+for `cv::aruco::Dictionary`. The data member of board classes are public and can be easily stored.
+
+
+- Alright, but how can I render a 3d model to create an augmented reality application?
+
+To do so, you will need to use an external rendering engine library, such as OpenGL. The aruco module
+only provides the functionality to obtain the camera pose, i.e. the rotation and traslation vectors,
+which is necessary to create the augmented reality effect. However, you will need to adapt the rotation
+and traslation vectors from the OpenCV format to the format accepted by your 3d rendering library.
+The original ArUco library contains examples of how to do it for OpenGL and Ogre3D.
+
+
+- I have use this module in my research work, how can I cite it?
+
+You can cite the original ArUco library:
+
+> S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
+> "Automatic generation and detection of highly reliable fiducial markers under occlusion".
+> Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
+
+- Pose estimation markers are not being detected correctly, what can I do?
+
+It is important to remark that the estimation of the pose using only 4 coplanar points is subject to ambiguity.
+In general, the ambiguity can be solved, if the camera is near to the marker.
+However, as the marker becomes small, the errors in the corner estimation grows and ambiguity comes
+as a problem. Try increasing the size of the marker you're using, and you can also try non-symmetrical
+(aruco_dict_utils.cpp) markers to avoid collisions. Use multiple markers (ArUco/ChArUco/Diamonds boards)
+and pose estimation with solvePnP() with the `cv::SOLVEPNP_IPPE_SQUARE` option.
+More in [this issue](https://github.com/opencv/opencv/issues/8813).
diff --git a/doc/tutorials/objdetect/barcode_detect_and_decode/barcode_detect_and_decode.markdown b/doc/tutorials/objdetect/barcode_detect_and_decode/barcode_detect_and_decode.markdown
index 4f2f0df381..7b7d8b4a0e 100644
--- a/doc/tutorials/objdetect/barcode_detect_and_decode/barcode_detect_and_decode.markdown
+++ b/doc/tutorials/objdetect/barcode_detect_and_decode/barcode_detect_and_decode.markdown
@@ -3,7 +3,7 @@ Barcode Recognition    {#tutorial_barcode_detect_and_decode}
 
 @tableofcontents
 
-@prev_tutorial{tutorial_aruco_board_detection}
+@prev_tutorial{tutorial_aruco_faq}
 
 |    |    |
 | -: | :- |
diff --git a/doc/tutorials/objdetect/charuco_detection/charuco_detection.markdown b/doc/tutorials/objdetect/charuco_detection/charuco_detection.markdown
new file mode 100644
index 0000000000..c1039376ea
--- /dev/null
+++ b/doc/tutorials/objdetect/charuco_detection/charuco_detection.markdown
@@ -0,0 +1,265 @@
+Detection of ChArUco Boards {#tutorial_charuco_detection}
+===========================
+
+@prev_tutorial{tutorial_aruco_board_detection}
+@next_tutorial{tutorial_charuco_diamond_detection}
+
+ArUco markers and boards are very useful due to their fast detection and their versatility.
+However, one of the problems of ArUco markers is that the accuracy of their corner positions is not
+too high, even after applying subpixel refinement.
+
+On the contrary, the corners of chessboard patterns can be refined more accurately since each corner
+is surrounded by two black squares. However, finding a chessboard pattern is not as versatile as
+finding an ArUco board: it has to be completely visible and occlusions are not permitted.
+
+A ChArUco board tries to combine the benefits of these two approaches:
+
+![Charuco definition](images/charucodefinition.png)
+
+The ArUco part is used to interpolate the position of the chessboard corners, so that it has the
+versatility of marker boards, since it allows occlusions or partial views. Moreover, since the
+interpolated corners belong to a chessboard, they are very accurate in terms of subpixel accuracy.
+
+When high precision is necessary, such as in camera calibration, Charuco boards are a better option
+than standard ArUco boards.
+
+Goal
+----
+
+In this tutorial you will learn:
+
+- How to create a charuco board ?
+- How to detect the charuco corners without performing camera calibration ?
+- How to detect the charuco corners with camera calibration and pose estimation ?
+
+Source code
+-----------
+
+You can find this code in `samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp`
+
+Here's a sample code of how to achieve all the stuff enumerated at the goal list.
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp charuco_detect_board_full_sample
+
+ChArUco Board Creation
+----------------------
+
+The aruco module provides the `cv::aruco::CharucoBoard` class that represents a Charuco Board and
+which inherits from the `cv::aruco::Board` class.
+
+This class, as the rest of ChArUco functionalities, are defined in:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp charucohdr
+
+To define a `cv::aruco::CharucoBoard`, it is necessary:
+
+- Number of chessboard squares in X and Y directions.
+- Length of square side.
+- Length of marker side.
+- The dictionary of the markers.
+- Ids of all the markers.
+
+As for the `cv::aruco::GridBoard` objects, the aruco module provides to create `cv::aruco::CharucoBoard`
+easily. This object can be easily created from these parameters using the `cv::aruco::CharucoBoard`
+constructor:
+
+@snippet samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp create_charucoBoard
+
+- The first parameter is the number of squares in X and Y direction respectively.
+- The second and third parameters are the length of the squares and the markers respectively. They can
+  be provided in any unit, having in mind that the estimated pose for this board would be measured
+  in the same units (usually meters are used).
+- Finally, the dictionary of the markers is provided.
+
+The ids of each of the markers are assigned by default in ascending order and starting on 0, like in
+`cv::aruco::GridBoard` constructor. This can be easily customized by accessing to the ids vector
+through `board.ids`, like in the `cv::aruco::Board` parent class.
+
+Once we have our `cv::aruco::CharucoBoard` object, we can create an image to print it. There are
+two ways to do this:
+1. By using the script `doc/patter_tools/gen_pattern.py `, see @subpage tutorial_camera_calibration_pattern.
+2. By using the function `cv::aruco::CharucoBoard::generateImage()`.
+
+The function `cv::aruco::CharucoBoard::generateImage()` is provided in cv::aruco::CharucoBoard class
+and can be called by using the following code:
+@snippet samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp generate_charucoBoard
+
+- The first parameter is the size of the output image in pixels. If this is not proportional
+to the board dimensions, it will be centered on the image.
+- The second parameter is the output image with the charuco board.
+- The third parameter is the (optional) margin in pixels, so none of the markers are touching the
+  image border.
+- Finally, the size of the marker border, similarly to `cv::aruco::generateImageMarker()` function.
+  The default value is 1.
+
+The output image will be something like this:
+
+![](images/charucoboard.png)
+
+A full working example is included in the `create_board_charuco.cpp` inside the `samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `create_board_charuco.cpp` now take input via commandline via the `cv::CommandLineParser`.
+For this file the example
+parameters will look like:
+@code{.cpp}
+    "_output_path_/chboard.png" -w=5 -h=7 -sl=100 -ml=60 -d=10
+@endcode
+
+
+ChArUco Board Detection
+-----------------------
+
+When you detect a ChArUco board, what you are actually detecting is each of the chessboard corners
+of the board.
+
+Each corner on a ChArUco board has a unique identifier (id) assigned. These ids go from 0 to the total
+number of corners in the board.
+The steps of charuco board detection can be broken down to the following steps:
+
+- **Taking input Image**
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp inputImg
+
+The original image where the markers are to be detected. The image is necessary to perform subpixel
+refinement in the ChArUco corners.
+
+- **Reading the camera calibration Parameters(only for detection with camera calibration)**
+
+@snippet samples/cpp/tutorial_code/objectDetection/aruco_samples_utility.hpp camDistCoeffs
+
+The parameters of `readCameraParameters` are:
+- The first parameter is the path to the camera intrinsic matrix and distortion coefficients.
+- The second and third parameters are cameraMatrix and distCoeffs.
+
+This function takes these parameters as input and returns a boolean value of whether the camera
+calibration parameters are valid or not. For detection of charuco corners without calibration,
+this step is not required.
+
+- **Detecting the markers and interpolation of charuco corners from markers**
+
+The detection of the ChArUco corners is based on the previous detected markers.
+So that, first markers are detected, and then ChArUco corners are interpolated from markers.
+The method that detect the ChArUco corners is `cv::aruco::CharucoDetector::detectBoard()`.
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp interpolateCornersCharuco
+
+The parameters of detectBoard are:
+- `image` - Input image.
+- `charucoCorners` - output list of image positions of the detected corners.
+- `charucoIds` - output ids for each of the detected corners in `charucoCorners`.
+- `markerCorners` - input/output vector of detected marker corners.
+- `markerIds` - input/output vector of identifiers of the detected markers
+
+If markerCorners and markerIds are empty, the function will detect aruco markers and ids.
+
+If calibration parameters are provided, the ChArUco corners are interpolated by, first, estimating
+a rough pose from the ArUco markers and, then, reprojecting the ChArUco corners back to the image.
+
+On the other hand, if calibration parameters are not provided, the ChArUco corners are interpolated
+by calculating the corresponding homography between the ChArUco plane and the ChArUco image projection.
+
+The main problem of using homography is that the interpolation is more sensible to image distortion.
+Actually, the homography is only performed using the closest markers of each ChArUco corner to reduce
+the effect of distortion.
+
+When detecting markers for ChArUco boards, and specially when using homography, it is recommended to
+disable the corner refinement of markers. The reason of this is that, due to the proximity of the
+chessboard squares, the subpixel process can produce important deviations in the corner positions and
+these deviations are propagated to the ChArUco corner interpolation, producing poor results.
+
+@note To avoid deviations, the margin between chessboard square and aruco marker should be greater
+than 70% of one marker module.
+
+Furthermore, only those corners whose two surrounding markers have be found are returned. If any of
+the two surrounding markers has not been detected, this usually means that there is some occlusion
+or the image quality is not good in that zone. In any case, it is preferable not to consider that
+corner, since what we want is to be sure that the interpolated ChArUco corners are very accurate.
+
+After the ChArUco corners have been interpolated, a subpixel refinement is performed.
+
+Once we have interpolated the ChArUco corners, we would probably want to draw them to see if their
+detections are correct. This can be easily done using the `cv::aruco::drawDetectedCornersCharuco()`
+function:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp drawDetectedCornersCharuco
+
+- `imageCopy` is the image where the corners will be drawn (it will normally be the same image where
+   the corners were detected).
+- The `outputImage` will be a clone of `inputImage` with the corners drawn.
+- `charucoCorners` and `charucoIds` are the detected Charuco corners from the `cv::aruco::CharucoDetector::detectBoard()`
+  function.
+- Finally, the last parameter is the (optional) color we want to draw the corners with, of type `cv::Scalar`.
+
+For this image:
+
+![Image with Charuco board](images/choriginal.jpg)
+
+The result will be:
+
+![Charuco board detected](images/chcorners.jpg)
+
+In the presence of occlusion. like in the following image, although some corners are clearly visible,
+not all their surrounding markers have been detected due occlusion and, thus, they are not interpolated:
+
+![Charuco detection with occlusion](images/chocclusion.jpg)
+
+Sample video:
+
+@youtube{Nj44m_N_9FY}
+
+A full working example is included in the `detect_board_charuco.cpp` inside the
+`samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `detect_board_charuco.cpp` now take input via commandline via the `cv::CommandLineParser`.
+For this file the example parameters will look like:
+@code{.cpp}
+    -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10 -v=/path_to_opencv/opencv/doc/tutorials/objdetect/charuco_detection/images/choriginal.jpg
+@endcode
+
+ChArUco Pose Estimation
+-----------------------
+
+The final goal of the ChArUco boards is finding corners very accurately for a high precision calibration
+or pose estimation.
+
+The aruco module provides a function to perform ChArUco pose estimation easily. As in the
+`cv::aruco::GridBoard`, the coordinate system of the `cv::aruco::CharucoBoard` is placed in
+the board plane with the Z axis pointing in, and centered in the bottom left corner of the board.
+
+@note After OpenCV 4.6.0, there was an incompatible change in the coordinate systems of the boards,
+now the coordinate systems are placed in the boards plane with the Z axis pointing in the plane
+(previously the axis pointed out the plane).
+`objPoints` in CW order correspond to the Z-axis pointing in the plane.
+`objPoints` in CCW order correspond to the Z-axis pointing out the plane.
+See PR https://github.com/opencv/opencv_contrib/pull/3174
+
+
+To perform pose estimation for charuco boards, you should use `cv::aruco::CharucoBoard::matchImagePoints()`
+and `cv::solvePnP()`:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp poseCharuco
+
+- The `charucoCorners` and `charucoIds` parameters are the detected charuco corners from the
+  `cv::aruco::CharucoDetector::detectBoard()` function.
+- The `cameraMatrix` and `distCoeffs` are the camera calibration parameters which are necessary
+  for pose estimation.
+- Finally, the `rvec` and `tvec` parameters are the output pose of the Charuco Board.
+- `cv::solvePnP()` returns true if the pose was correctly estimated and false otherwise.
+  The main reason of failing is that there are not enough corners for pose estimation or
+  they are in the same line.
+
+The axis can be drawn using `cv::drawFrameAxes()` to check the pose is correctly estimated.
+The result would be: (X:red, Y:green, Z:blue)
+
+![Charuco Board Axis](images/chaxis.jpg)
+
+A full working example is included in the `detect_board_charuco.cpp` inside the
+`samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `detect_board_charuco.cpp` now take input via commandline via the `cv::CommandLineParser`.
+For this file the example parameters will look like:
+@code{.cpp}
+    -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10
+    -v=/path_to_opencv/opencv/doc/tutorials/objdetect/charuco_detection/images/choriginal.jpg
+    -c=/path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_camera_charuco.yml
+@endcode
diff --git a/doc/tutorials/objdetect/charuco_detection/images/charucoboard.png b/doc/tutorials/objdetect/charuco_detection/images/charucoboard.png
new file mode 100644
index 0000000000..ee9fe3e0db
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diff --git a/doc/tutorials/objdetect/charuco_detection/images/charucodefinition.png b/doc/tutorials/objdetect/charuco_detection/images/charucodefinition.png
new file mode 100644
index 0000000000..44684f310c
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diff --git a/doc/tutorials/objdetect/charuco_detection/images/chaxis.jpg b/doc/tutorials/objdetect/charuco_detection/images/chaxis.jpg
new file mode 100644
index 0000000000..a00ba6134c
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diff --git a/doc/tutorials/objdetect/charuco_detection/images/chcorners.jpg b/doc/tutorials/objdetect/charuco_detection/images/chcorners.jpg
new file mode 100644
index 0000000000..1eca446421
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diff --git a/doc/tutorials/objdetect/charuco_detection/images/chocclusion.jpg b/doc/tutorials/objdetect/charuco_detection/images/chocclusion.jpg
new file mode 100644
index 0000000000..e4860fc832
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diff --git a/doc/tutorials/objdetect/charuco_detection/images/chocclusion_original.jpg b/doc/tutorials/objdetect/charuco_detection/images/chocclusion_original.jpg
new file mode 100644
index 0000000000..037a8eb128
Binary files /dev/null and b/doc/tutorials/objdetect/charuco_detection/images/chocclusion_original.jpg differ
diff --git a/doc/tutorials/objdetect/charuco_detection/images/choriginal.jpg b/doc/tutorials/objdetect/charuco_detection/images/choriginal.jpg
new file mode 100644
index 0000000000..3ca7c3149f
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diff --git a/doc/tutorials/objdetect/charuco_diamond_detection/charuco_diamond_detection.markdown b/doc/tutorials/objdetect/charuco_diamond_detection/charuco_diamond_detection.markdown
new file mode 100644
index 0000000000..04ae79ded0
--- /dev/null
+++ b/doc/tutorials/objdetect/charuco_diamond_detection/charuco_diamond_detection.markdown
@@ -0,0 +1,143 @@
+Detection of Diamond Markers {#tutorial_charuco_diamond_detection}
+==============================
+
+@prev_tutorial{tutorial_charuco_detection}
+@next_tutorial{tutorial_aruco_calibration}
+
+A ChArUco diamond marker (or simply diamond marker) is a chessboard composed by 3x3 squares and 4 ArUco markers inside the white squares.
+It is similar to a ChArUco board in appearance, however they are conceptually different.
+
+![Diamond marker examples](images/diamondmarkers.jpg)
+
+In both, ChArUco board and Diamond markers, their detection is based on the previous detected ArUco
+markers. In the ChArUco case, the used markers are selected by directly looking their identifiers. This means
+that if a marker (included in the board) is found on a image, it will be automatically assumed to belong to the board. Furthermore,
+if a marker board is found more than once in the image, it will produce an ambiguity since the system wont
+be able to know which one should be used for the Board.
+
+On the other hand, the detection of Diamond marker is not based on the identifiers. Instead, their detection
+is based on the relative position of the markers. As a consequence, marker identifiers can be repeated in the
+same diamond or among different diamonds, and they can be detected simultaneously without ambiguity. However,
+due to the complexity of finding marker based on their relative position, the diamond markers are limited to
+a size of 3x3 squares and 4 markers.
+
+As in a single ArUco marker, each Diamond marker is composed by 4 corners and a identifier. The four corners
+correspond to the 4 chessboard corners in the marker and the identifier is actually an array of 4 numbers, which are
+the identifiers of the four ArUco markers inside the diamond.
+
+Diamond markers are useful in those scenarios where repeated markers should be allowed. For instance:
+
+- To increase the number of identifiers of single markers by using diamond marker for labeling. They would allow
+up to N^4 different ids, being N the number of markers in the used dictionary.
+
+- Give to each of the four markers a conceptual meaning. For instance, one of the four marker ids could be
+used to indicate the scale of the marker (i.e. the size of the square), so that the same diamond can be found
+in the environment with different sizes just by changing one of the four markers and the user does not need
+to manually indicate the scale of each of them. This case is included in the `detect_diamonds.cpp` file inside
+the samples folder of the module.
+
+Furthermore, as its corners are chessboard corners, they can be used for accurate pose estimation.
+
+The diamond functionalities are included in `<opencv2/objdetect/charuco_detector.hpp>`
+
+
+ChArUco Diamond Creation
+------
+
+The image of a diamond marker can be easily created using the `cv::aruco::CharucoBoard::generateImage()` function.
+For instance:
+
+@snippet samples/cpp/tutorial_code/objectDetection/create_diamond.cpp generate_diamond
+
+This will create a diamond marker image with a square size of 200 pixels and a marker size of 120 pixels.
+The marker ids are given in the second parameter as a `cv::Vec4i` object. The order of the marker ids
+in the diamond layout are the same as in a standard ChArUco board, i.e. top, left, right and bottom.
+
+The image produced will be:
+
+![Diamond marker](images/diamondmarker.png)
+
+A full working example is included in the `create_diamond.cpp` inside the `samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `create_diamond.cpp` now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    "_path_/mydiamond.png" -sl=200 -ml=120 -d=10 -ids=0,1,2,3
+@endcode
+
+ChArUco Diamond Detection
+------
+
+As in most cases, the detection of diamond markers requires a previous detection of ArUco markers.
+After detecting markers, diamond are detected using the `cv::aruco::CharucoDetector::detectDiamonds()` function:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp detect_diamonds
+
+The `cv::aruco::CharucoDetector::detectDiamonds()` function receives the original image and the previous detected marker corners and ids.
+If markerCorners and markerIds are empty, the function will detect aruco markers and ids.
+The input image is necessary to perform subpixel refinement in the ChArUco corners.
+It also receives the rate between the square size and the marker sizes which is required for both, detecting the diamond
+from the relative positions of the markers and interpolating the ChArUco corners.
+
+The function returns the detected diamonds in two parameters. The first parameter, `diamondCorners`, is an array containing
+all the four corners of each detected diamond. Its format is similar to the detected corners by the `cv::aruco::ArucoDetector::detectMarkers()`
+function and, for each diamond, the corners are represented in the same order than in the ArUco markers, i.e. clockwise order
+starting with the top-left corner. The second returned parameter, `diamondIds`, contains all the ids of the returned
+diamond corners in `diamondCorners`. Each id is actually an array of 4 integers that can be represented with `cv::Vec4i`.
+
+The detected diamond can be visualized using the function `cv::aruco::drawDetectedDiamonds()` which simply receives the image and the diamond
+corners and ids:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp draw_diamonds
+
+The result is the same that the one produced by `cv::aruco::drawDetectedMarkers()`, but printing the four ids of the diamond:
+
+![Detected diamond markers](images/detecteddiamonds.jpg)
+
+A full working example is included in the `detect_diamonds.cpp` inside the `samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `detect_diamonds.cpp` now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    -dp=path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/detector_params.yml -sl=0.4 -ml=0.25 -refine=3
+    -v=path_to_opencv/opencv/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarkers.jpg
+    -cd=path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_dict.yml
+@endcode
+
+ChArUco Diamond Pose Estimation
+------
+
+Since a ChArUco diamond is represented by its four corners, its pose can be estimated in the same way than in a single ArUco marker,
+i.e. using the `cv::solvePnP()` function. For instance:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp diamond_pose_estimation
+@snippet samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp draw_diamond_pose_estimation
+
+The function will obtain the rotation and translation vector for each of the diamond marker and store them
+in `rvecs` and `tvecs`. Note that the diamond corners are a chessboard square corners and thus, the square length
+has to be provided for pose estimation, and not the marker length. Camera calibration parameters are also required.
+
+Finally, an axis can be drawn to check the estimated pose is correct using `drawFrameAxes()`:
+
+![Detected diamond axis](images/diamondsaxis.jpg)
+
+The coordinate system of the diamond pose will be in the center of the marker with the Z axis pointing out,
+as in a simple ArUco marker pose estimation.
+
+Sample video:
+
+@youtube{OqKpBnglH7k}
+
+Also ChArUco diamond pose can be estimated as ChArUco board:
+@snippet samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp diamond_pose_estimation_as_charuco
+
+A full working example is included in the `detect_diamonds.cpp` inside the `samples/cpp/tutorial_code/objectDetection/`.
+
+The samples `detect_diamonds.cpp` now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    -dp=path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/detector_params.yml -sl=0.4 -ml=0.25 -refine=3
+    -v=path_to_opencv/opencv/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarkers.jpg
+    -cd=path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_dict.yml
+    -c=path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_camera_params.yml
+@endcode
diff --git a/doc/tutorials/objdetect/charuco_diamond_detection/images/detecteddiamonds.jpg b/doc/tutorials/objdetect/charuco_diamond_detection/images/detecteddiamonds.jpg
new file mode 100644
index 0000000000..32b6eb0b92
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diff --git a/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarker.png b/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarker.png
new file mode 100644
index 0000000000..6a490806fc
Binary files /dev/null and b/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarker.png differ
diff --git a/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarkers.jpg b/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondmarkers.jpg
new file mode 100644
index 0000000000..7d270ad648
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diff --git a/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondsaxis.jpg b/doc/tutorials/objdetect/charuco_diamond_detection/images/diamondsaxis.jpg
new file mode 100644
index 0000000000..20e144036d
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diff --git a/doc/tutorials/objdetect/table_of_content_objdetect.markdown b/doc/tutorials/objdetect/table_of_content_objdetect.markdown
index 9456165d43..a79b29dd7a 100644
--- a/doc/tutorials/objdetect/table_of_content_objdetect.markdown
+++ b/doc/tutorials/objdetect/table_of_content_objdetect.markdown
@@ -3,4 +3,8 @@ Object Detection (objdetect module) {#tutorial_table_of_content_objdetect}
 
 -   @subpage tutorial_aruco_detection
 -   @subpage tutorial_aruco_board_detection
+-   @subpage tutorial_charuco_detection
+-   @subpage tutorial_charuco_diamond_detection
+-   @subpage tutorial_aruco_calibration
+-   @subpage tutorial_aruco_faq
 -   @subpage tutorial_barcode_detect_and_decode
diff --git a/modules/calib/src/calibinit.cpp b/modules/calib/src/calibinit.cpp
index 489451a10c..e4e934ba95 100644
--- a/modules/calib/src/calibinit.cpp
+++ b/modules/calib/src/calibinit.cpp
@@ -1666,8 +1666,7 @@ void ChessBoardDetector::findQuadNeighbors()
                     continue;
 
                 const float dist = normL2Sqr<float>(pt - all_quads_pts[neighbor_idx]);
-                if (dist < min_dist &&
-                    dist <= cur_quad.edge_len * thresh_scale &&
+                if (dist <= cur_quad.edge_len * thresh_scale &&
                     dist <= q_k.edge_len * thresh_scale)
                 {
                     // check edge lengths, make sure they're compatible
@@ -1684,6 +1683,7 @@ void ChessBoardDetector::findQuadNeighbors()
                     closest_corner_idx = j;
                     closest_quad = &q_k;
                     min_dist = dist;
+                    break;
                 }
             }
 
diff --git a/modules/core/include/opencv2/core/cvdef.h b/modules/core/include/opencv2/core/cvdef.h
index 5c9ed53075..a85d2d39fe 100644
--- a/modules/core/include/opencv2/core/cvdef.h
+++ b/modules/core/include/opencv2/core/cvdef.h
@@ -933,7 +933,9 @@ inline hfloat hfloatFromBits(ushort w) {
 #endif
 }
 
+#if !defined(__OPENCV_BUILD) && !(defined __STDCPP_FLOAT16_T__) && !(defined __ARM_NEON)
 typedef hfloat float16_t;
+#endif
 
 class bfloat
 {
diff --git a/modules/core/misc/objc/common/Mat.h b/modules/core/misc/objc/common/Mat.h
index 42d4689e8f..04fc8da82c 100644
--- a/modules/core/misc/objc/common/Mat.h
+++ b/modules/core/misc/objc/common/Mat.h
@@ -15,7 +15,7 @@
 #import <Foundation/Foundation.h>
 
 #ifdef AVAILABLE_IMGCODECS
-#if TARGET_OS_IPHONE
+#if TARGET_OS_IPHONE || TARGET_OS_VISION
 #import <UIKit/UIKit.h>
 #elif TARGET_OS_MAC
 #import <AppKit/AppKit.h>
@@ -197,7 +197,7 @@ CV_EXPORTS @interface Mat : NSObject
 - (instancetype)initWithCGImage:(CGImageRef)image;
 - (instancetype)initWithCGImage:(CGImageRef)image alphaExist:(BOOL)alphaExist;
 
-#if TARGET_OS_IPHONE
+#if TARGET_OS_IPHONE || TARGET_OS_VISION
 
 - (UIImage*)toUIImage;
 - (instancetype)initWithUIImage:(UIImage*)image;
diff --git a/modules/core/misc/objc/common/Mat.mm b/modules/core/misc/objc/common/Mat.mm
index 80ada0b930..54387a4772 100644
--- a/modules/core/misc/objc/common/Mat.mm
+++ b/modules/core/misc/objc/common/Mat.mm
@@ -951,7 +951,7 @@ template<typename T> int putData(NSArray<NSNumber*>* indices, cv::Mat* mat, int
     return [MatConverters convertCGImageRefToMat:image alphaExist:alphaExist];
 }
 
-#if TARGET_OS_IPHONE
+#if TARGET_OS_IPHONE || TARGET_OS_VISION
 
 -(UIImage*)toUIImage {
     return [MatConverters converMatToUIImage:self];
diff --git a/modules/core/misc/python/package/mat_wrapper/__init__.py b/modules/core/misc/python/package/mat_wrapper/__init__.py
index 7cbc0645de..8a1e4580c9 100644
--- a/modules/core/misc/python/package/mat_wrapper/__init__.py
+++ b/modules/core/misc/python/package/mat_wrapper/__init__.py
@@ -4,15 +4,16 @@ import numpy as np
 import cv2 as cv
 from typing import TYPE_CHECKING, Any
 
-# Same as cv2.typing.NumPyArrayGeneric, but avoids circular dependencies
+# Same as cv2.typing.NumPyArrayNumeric, but avoids circular dependencies
 if TYPE_CHECKING:
-    _NumPyArrayGeneric = np.ndarray[Any, np.dtype[np.generic]]
+    _NumPyArrayNumeric = np.ndarray[Any, np.dtype[np.integer[Any] | np.floating[Any]]]
 else:
-    _NumPyArrayGeneric = np.ndarray
+    _NumPyArrayNumeric = np.ndarray
 
 # NumPy documentation: https://numpy.org/doc/stable/user/basics.subclassing.html
 
-class Mat(_NumPyArrayGeneric):
+
+class Mat(_NumPyArrayNumeric):
     '''
     cv.Mat wrapper for numpy array.
 
diff --git a/modules/core/src/persistence.cpp b/modules/core/src/persistence.cpp
index 12cb3a7588..1bd8a22da2 100644
--- a/modules/core/src/persistence.cpp
+++ b/modules/core/src/persistence.cpp
@@ -98,9 +98,11 @@ char* doubleToString( char* buf, size_t bufSize, double value, bool explicitZero
         }
         else
         {
-            static const char* fmt = "%.16e";
+            // binary64 has 52 bit fraction with hidden bit.
+            // 53 * log_10(2) is 15.955. So "%.16f" should be fine, but its test fails.
+            snprintf( buf, bufSize, "%.17g", value );
+
             char* ptr = buf;
-            snprintf( buf, bufSize, fmt, value );
             if( *ptr == '+' || *ptr == '-' )
                 ptr++;
             for( ; cv_isdigit(*ptr); ptr++ )
@@ -140,11 +142,21 @@ char* floatToString( char* buf, size_t bufSize, float value, bool halfprecision,
         }
         else
         {
-            char* ptr = buf;
             if (halfprecision)
-                snprintf(buf, bufSize, "%.4e", value);
+            {
+                // bfloat16 has 7 bit fraction with hidden bit.
+                // binary16 has 10 bit fraction with hidden bit.
+                // 11 * log_10(2) is 3.311. So "%.4f" should be fine, but its test fails.
+                snprintf(buf, bufSize, "%.5g", value);
+            }
             else
-                snprintf(buf, bufSize, "%.8e", value);
+            {
+                // binray32 has 23 bit fraction with hidden bit.
+                // 24 * log_10(2) is 7.225. So "%.8f" should be fine, but its test fails.
+                snprintf(buf, bufSize, "%.9g", value);
+            }
+
+            char* ptr = buf;
             if( *ptr == '+' || *ptr == '-' )
                 ptr++;
             for( ; cv_isdigit(*ptr); ptr++ )
diff --git a/modules/core/test/test_io.cpp b/modules/core/test/test_io.cpp
index d638a3edfc..f316a3940e 100644
--- a/modules/core/test/test_io.cpp
+++ b/modules/core/test/test_io.cpp
@@ -1191,11 +1191,7 @@ TEST(Core_InputOutput, FileStorage_DMatch)
 
     EXPECT_NO_THROW(fs << "d" << d);
     cv::String fs_result = fs.releaseAndGetString();
-#if defined _MSC_VER && _MSC_VER <= 1800 /* MSVC 2013 and older */
-    EXPECT_STREQ(fs_result.c_str(), "%YAML:1.0\n---\nd: [ 1, 2, 3, -1.5000000000000000e+000 ]\n");
-#else
-    EXPECT_STREQ(fs_result.c_str(), "%YAML:1.0\n---\nd: [ 1, 2, 3, -1.5000000000000000e+00 ]\n");
-#endif
+    EXPECT_STREQ(fs_result.c_str(), "%YAML:1.0\n---\nd: [ 1, 2, 3, -1.5 ]\n");
 
     cv::FileStorage fs_read(fs_result, cv::FileStorage::READ | cv::FileStorage::MEMORY);
 
@@ -1222,25 +1218,14 @@ TEST(Core_InputOutput, FileStorage_DMatch_vector)
 
     EXPECT_NO_THROW(fs << "dv" << dv);
     cv::String fs_result = fs.releaseAndGetString();
-#if defined _MSC_VER && _MSC_VER <= 1800 /* MSVC 2013 and older */
     EXPECT_STREQ(fs_result.c_str(),
 "%YAML:1.0\n"
 "---\n"
 "dv:\n"
-"   - [ 1, 2, 3, -1.5000000000000000e+000 ]\n"
-"   - [ 2, 3, 4, 1.5000000000000000e+000 ]\n"
-"   - [ 3, 2, 1, 5.0000000000000000e-001 ]\n"
+"   - [ 1, 2, 3, -1.5 ]\n"
+"   - [ 2, 3, 4, 1.5 ]\n"
+"   - [ 3, 2, 1, 0.5 ]\n"
 );
-#else
-    EXPECT_STREQ(fs_result.c_str(),
-"%YAML:1.0\n"
-"---\n"
-"dv:\n"
-"   - [ 1, 2, 3, -1.5000000000000000e+00 ]\n"
-"   - [ 2, 3, 4, 1.5000000000000000e+00 ]\n"
-"   - [ 3, 2, 1, 5.0000000000000000e-01 ]\n"
-);
-#endif
 
     cv::FileStorage fs_read(fs_result, cv::FileStorage::READ | cv::FileStorage::MEMORY);
 
@@ -1280,33 +1265,18 @@ TEST(Core_InputOutput, FileStorage_DMatch_vector_vector)
     EXPECT_NO_THROW(fs << "dvv" << dvv);
     cv::String fs_result = fs.releaseAndGetString();
 #ifndef OPENCV_TRAITS_ENABLE_DEPRECATED
-#if defined _MSC_VER && _MSC_VER <= 1800 /* MSVC 2013 and older */
     EXPECT_STREQ(fs_result.c_str(),
 "%YAML:1.0\n"
 "---\n"
 "dvv:\n"
 "   -\n"
-"      - [ 1, 2, 3, -1.5000000000000000e+000 ]\n"
-"      - [ 2, 3, 4, 1.5000000000000000e+000 ]\n"
-"      - [ 3, 2, 1, 5.0000000000000000e-001 ]\n"
+"      - [ 1, 2, 3, -1.5 ]\n"
+"      - [ 2, 3, 4, 1.5 ]\n"
+"      - [ 3, 2, 1, 0.5 ]\n"
 "   -\n"
-"      - [ 3, 2, 1, 5.0000000000000000e-001 ]\n"
-"      - [ 1, 2, 3, -1.5000000000000000e+000 ]\n"
+"      - [ 3, 2, 1, 0.5 ]\n"
+"      - [ 1, 2, 3, -1.5 ]\n"
 );
-#else
-    EXPECT_STREQ(fs_result.c_str(),
-"%YAML:1.0\n"
-"---\n"
-"dvv:\n"
-"   -\n"
-"      - [ 1, 2, 3, -1.5000000000000000e+00 ]\n"
-"      - [ 2, 3, 4, 1.5000000000000000e+00 ]\n"
-"      - [ 3, 2, 1, 5.0000000000000000e-01 ]\n"
-"   -\n"
-"      - [ 3, 2, 1, 5.0000000000000000e-01 ]\n"
-"      - [ 1, 2, 3, -1.5000000000000000e+00 ]\n"
-);
-#endif
 #endif // OPENCV_TRAITS_ENABLE_DEPRECATED
 
     cv::FileStorage fs_read(fs_result, cv::FileStorage::READ | cv::FileStorage::MEMORY);
@@ -1988,5 +1958,53 @@ TEST(Core_InputOutput, FileStorage_invalid_path_regression_21448_JSON)
     fs.release();
 }
 
+// see https://github.com/opencv/opencv/issues/25073
+typedef testing::TestWithParam< std::string > Core_InputOutput_regression_25073;
+
+TEST_P(Core_InputOutput_regression_25073, my_double)
+{
+    cv::String res = "";
+    double my_double = 0.5;
+
+    FileStorage fs( GetParam(), cv::FileStorage::WRITE | cv::FileStorage::MEMORY);
+    EXPECT_NO_THROW( fs << "my_double" << my_double );
+    EXPECT_NO_THROW( fs << "my_int" << 5 );
+    EXPECT_NO_THROW( res = fs.releaseAndGetString() );
+    EXPECT_NE( res.find("0.5"), String::npos ) << res; // Found "0.5"
+    EXPECT_EQ( res.find("5.0"), String::npos ) << res; // Not Found "5.000000000000000000e-01"
+    fs.release();
+}
+
+TEST_P(Core_InputOutput_regression_25073, my_float)
+{
+    cv::String res = "";
+    float my_float = 0.5;
+
+    FileStorage fs( GetParam(), cv::FileStorage::WRITE | cv::FileStorage::MEMORY);
+    EXPECT_NO_THROW( fs << "my_float" << my_float );
+    EXPECT_NO_THROW( fs << "my_int" << 5 );
+    EXPECT_NO_THROW( res = fs.releaseAndGetString() );
+    EXPECT_NE( res.find("0.5"), String::npos ) << res; // Found "0.5"
+    EXPECT_EQ( res.find("5.0"), String::npos ) << res; // Not Found "5.00000000e-01",
+    fs.release();
+}
+
+TEST_P(Core_InputOutput_regression_25073, my_hfloat)
+{
+    cv::String res = "";
+    cv::hfloat my_hfloat(0.5);
+
+    FileStorage fs( GetParam(), cv::FileStorage::WRITE | cv::FileStorage::MEMORY);
+    EXPECT_NO_THROW( fs << "my_hfloat" << my_hfloat );
+    EXPECT_NO_THROW( fs << "my_int" << 5 );
+    EXPECT_NO_THROW( res = fs.releaseAndGetString() );
+    EXPECT_NE( res.find("0.5"), String::npos ) << res; // Found "0.5".
+    EXPECT_EQ( res.find("5.0"), String::npos ) << res; // Not Found "5.0000e-01".
+    fs.release();
+}
+
+INSTANTIATE_TEST_CASE_P( /*nothing*/,
+    Core_InputOutput_regression_25073,
+    Values("test.json", "test.xml", "test.yml") );
 
 }} // namespace
diff --git a/modules/dnn/cmake/plugin.cmake b/modules/dnn/cmake/plugin.cmake
index 055d21efc3..df603b7c7a 100644
--- a/modules/dnn/cmake/plugin.cmake
+++ b/modules/dnn/cmake/plugin.cmake
@@ -50,6 +50,7 @@ function(ocv_create_builtin_dnn_plugin name target)
   endforeach()
 
   if(WIN32)
+    add_definitions(-D_USE_MATH_DEFINES)
     set(OPENCV_PLUGIN_VERSION "${OPENCV_DLLVERSION}" CACHE STRING "")
     if(CMAKE_CXX_SIZEOF_DATA_PTR EQUAL 8)
       set(OPENCV_PLUGIN_ARCH "_64" CACHE STRING "")
diff --git a/modules/dnn/src/layers/cpu_kernels/conv_block.simd.hpp b/modules/dnn/src/layers/cpu_kernels/conv_block.simd.hpp
index 22d7d5194a..1734dccc63 100644
--- a/modules/dnn/src/layers/cpu_kernels/conv_block.simd.hpp
+++ b/modules/dnn/src/layers/cpu_kernels/conv_block.simd.hpp
@@ -494,10 +494,9 @@ void convBlockMR1_F32(int np, const float * a, const float * b, float *c, const
 void convBlock_F16(int np, const char * _a, const char * _b, char * _c, int ldc, bool init_c, int width,
                     const int convMR_fp16, const int convNR_fp16)
 {
-    typedef __fp16 float16_t;
-    const float16_t* a = (const float16_t*)_a;
-    const float16_t* b = (const float16_t*)_b;
-    float16_t* c = (float16_t*)_c;
+    const __fp16* a = (const __fp16*)_a;
+    const __fp16* b = (const __fp16*)_b;
+    __fp16* c = (__fp16*)_c;
     CV_Assert(convMR_fp16 == 8 && convNR_fp16 == 24);
 
     float16x8_t c00 = vdupq_n_f16(0), c01 = c00, c02 = c00;
@@ -638,12 +637,11 @@ void convBlock_F16(int np, const char * _a, const char * _b, char * _c, int ldc,
 void convBlockMR1_F16(int np, const char* _a, const char* _b, float *c, const float _bias, bool init_c,
                        const float minval, const float maxval, bool ifMinMaxAct, const int width, const int convNR_FP16)
 {
-    typedef __fp16 float16_t;
     CV_Assert(convNR_FP16 == 24); // CONV_NR_FP16 = 24
-    const float16_t* a = (const float16_t*)_a;
-    const float16_t* b = (const float16_t*)_b;
+    const __fp16* a = (const __fp16*)_a;
+    const __fp16* b = (const __fp16*)_b;
 
-    const float16_t bias = (float16_t)_bias;
+    const __fp16 bias = (__fp16)_bias;
 
     float16x8_t c0 = vdupq_n_f16(bias), c1 = c0, c2 = c0;
 
diff --git a/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.cpp b/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.cpp
index d19cec64de..46e220e69f 100644
--- a/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.cpp
+++ b/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.cpp
@@ -85,7 +85,7 @@ int runWinograd63(InputArray _input, InputArray _fusedAddMat, OutputArray _outpu
         // works at FP 16.
         CONV_WINO_ATOM = CONV_WINO_ATOM_F16;
         CONV_WINO_NATOMS = CONV_WINO_NATOMS_F16;
-        esz = sizeof(float16_t);
+        esz = sizeof(__fp16);
     }
 #endif
 
diff --git a/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.simd.hpp b/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.simd.hpp
index d1f1610280..e44d0f8004 100644
--- a/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.simd.hpp
+++ b/modules/dnn/src/layers/cpu_kernels/conv_winograd_f63.simd.hpp
@@ -435,10 +435,9 @@ void winofunc_AtXA_8x8_F32(const float* inptr, int inpstep,
 void winofunc_accum_F16(const char* _inwptr, const char* _wptr, char* _outbuf, int Cg, int iblock,
                         const int winoIblock, const int winoKblock, const int winoAtomF16, const int winoNatomF16)
 {
-    typedef __fp16 float16_t;
-    const float16_t* inwptr = (const float16_t*)_inwptr;
-    const float16_t* wptr = (const float16_t*)_wptr;
-    float16_t* outbuf = (float16_t*)_outbuf;
+    const __fp16* inwptr = (const __fp16*)_inwptr;
+    const __fp16* wptr = (const __fp16*)_wptr;
+    __fp16* outbuf = (__fp16*)_outbuf;
 
     CV_Assert(winoIblock == 6 && winoKblock == 4 && winoAtomF16 == 8);
 
@@ -591,8 +590,7 @@ void winofunc_accum_F16(const char* _inwptr, const char* _wptr, char* _outbuf, i
 void winofunc_BtXB_8x8_F16(const float * inptr, int inpstep,
                            char * _outptr, int Cg, const int winoIblock, const int winoAtomF16)
 {
-    typedef __fp16 float16_t;
-    float16_t* outptr = (float16_t*)_outptr;
+    __fp16* outptr = (__fp16*)_outptr;
     float32x4_t x00 = vld1q_f32(inptr), x01 = vld1q_f32(inptr + 4);
     float32x4_t x10 = vld1q_f32(inptr + inpstep), x11 = vld1q_f32(inptr + inpstep + 4);
     float32x4_t x20 = vld1q_f32(inptr + inpstep*2), x21 = vld1q_f32(inptr + inpstep*2 + 4);
@@ -757,8 +755,7 @@ void winofunc_AtXA_8x8_F16(const char* _inptr, int inpstep,
                            float * bpptr, int bpstep, float* outptr, int outstep,
                            float bias, float minval, float maxval, bool ifMinMaxAct)
 {
-    typedef __fp16 float16_t;
-    const float16_t* inptr = (const float16_t*)_inptr;
+    const __fp16* inptr = (const __fp16*)_inptr;
 
     float32x4_t x00 = vcvt_f32_f16(vld1_f16(inptr)), x01 = vcvt_f32_f16(vld1_f16(inptr + 4));
     float32x4_t x10 = vcvt_f32_f16(vld1_f16(inptr + inpstep)), x11 = vcvt_f32_f16(vld1_f16(inptr + inpstep + 4));
diff --git a/modules/dnn/src/layers/cpu_kernels/convolution.cpp b/modules/dnn/src/layers/cpu_kernels/convolution.cpp
index 7bbcf1e8e8..33fb62a47b 100644
--- a/modules/dnn/src/layers/cpu_kernels/convolution.cpp
+++ b/modules/dnn/src/layers/cpu_kernels/convolution.cpp
@@ -26,7 +26,7 @@ void convBlockMR1_F32(int np, const float* a, const float* b, float *c, const fl
 
 #ifdef CONV_ARM_FP16
 // Fast convert float 32 to float16
-static inline void _cvt32f16f(const float* src, float16_t* dst, int len)
+static inline void _cvt32f16f(const float* src, __fp16* dst, int len)
 {
     int j = 0;
     const int VECSZ = 4;
@@ -60,7 +60,7 @@ static inline void _cvt32f16f(const float* src, float16_t* dst, int len)
         vst1_f16(dst_FP16 + j, hv);
     }
     for( ; j < len; j++ )
-        dst[j] = float16_t(src[j]);
+        dst[j] = __fp16(src[j]);
 }
 #endif
 
@@ -74,12 +74,12 @@ float* FastConv::getWeightsWino()
     return alignPtr(weightsWinoBuf.data(), VEC_ALIGN);
 }
 
-float16_t* FastConv::getWeightsFP16()
+hfloat* FastConv::getWeightsFP16()
 {
     return alignPtr(weightsBuf_FP16.data(), VEC_ALIGN);
 }
 
-float16_t* FastConv::getWeightsWinoFP16()
+hfloat* FastConv::getWeightsWinoFP16()
 {
     return alignPtr(weightsWinoBuf_FP16.data(), VEC_ALIGN);
 }
@@ -209,7 +209,7 @@ Ptr<FastConv> initFastConv(
         if (conv->useFP16)
         {
             conv->weightsBuf_FP16.resize(nweights + VEC_ALIGN);
-            auto weightsPtr_FP16 = conv->getWeightsFP16();
+            auto weightsPtr_FP16 = (__fp16*)conv->getWeightsFP16();
 
             parallel_for_(Range(0, C), [&](const Range& r0){
                 for(int c = r0.start; c < r0.end; c++)
@@ -269,11 +269,11 @@ Ptr<FastConv> initFastConv(
 
         float* wptrWino = nullptr;
 #ifdef CONV_ARM_FP16
-        float16_t* wptrWino_FP16 = nullptr;
+        __fp16* wptrWino_FP16 = nullptr;
         if (conv->useFP16)
         {
             conv->weightsWinoBuf_FP16.resize(nweights + VEC_ALIGN);
-            wptrWino_FP16 = conv->getWeightsWinoFP16();
+            wptrWino_FP16 = (__fp16*)conv->getWeightsWinoFP16();
         }
         else
 #endif
@@ -323,7 +323,7 @@ Ptr<FastConv> initFastConv(
 #ifdef CONV_ARM_FP16
                 if (conv->useFP16)
                 {
-                    float16_t* wptr = wptrWino_FP16 + (g*Kg_nblocks + ki) * Cg *CONV_WINO_KBLOCK*CONV_WINO_AREA +
+                    __fp16* wptr = wptrWino_FP16 + (g*Kg_nblocks + ki) * Cg *CONV_WINO_KBLOCK*CONV_WINO_AREA +
                                   (c*CONV_WINO_KBLOCK + dk)*CONV_WINO_ATOM_F16;
                     for (int i = 0; i < CONV_WINO_NATOMS_F16; i++,
                             wptr += Cg * CONV_WINO_KBLOCK * CONV_WINO_ATOM_F16)
@@ -331,7 +331,7 @@ Ptr<FastConv> initFastConv(
                         CV_Assert(wptrWino_FP16 <= wptr && wptr + CONV_WINO_ATOM_F16 <= wptrWino_FP16 + nweights);
                         for (int j = 0; j < CONV_WINO_ATOM_F16; j++)
                         {
-                            wptr[j] = (float16_t)kernelTm[i * CONV_WINO_ATOM_F16 + j];
+                            wptr[j] = (__fp16)kernelTm[i * CONV_WINO_ATOM_F16 + j];
                         }
                     }
                 }
@@ -367,12 +367,12 @@ Ptr<FastConv> initFastConv(
         int numStripsMR_FP16 = (Kg + CONV_MR_FP16 - 1) / CONV_MR_FP16;
         int Kg_aligned_FP16 = numStripsMR_FP16 * CONV_MR_FP16;
         size_t nweights_FP16 = ngroups * Kg_aligned_FP16 * DkHkWkCg;
-        float16_t* weightsPtr_FP16 = nullptr;
+        __fp16* weightsPtr_FP16 = nullptr;
 
         if (conv->useFP16)
         {
             conv->weightsBuf_FP16.resize(nweights_FP16 + VEC_ALIGN);
-            weightsPtr_FP16 = conv->getWeightsFP16();
+            weightsPtr_FP16 = (__fp16*)conv->getWeightsFP16();
         }
         else
 #endif
@@ -394,7 +394,7 @@ Ptr<FastConv> initFastConv(
                 int startK = si * CONV_MR_FP16;
                 CV_Assert(startK < Kg_aligned_FP16);
 
-                float16_t* packed_wptr = weightsPtr_FP16 + DkHkWkCg * (startK + g * Kg_aligned_FP16);
+                __fp16* packed_wptr = weightsPtr_FP16 + DkHkWkCg * (startK + g * Kg_aligned_FP16);
                 int dk = Kg - startK < CONV_MR_FP16 ? Kg - startK : CONV_MR_FP16; // check if we need zero padding.
 
                 int k_idx = g*Kg + startK;
@@ -405,9 +405,9 @@ Ptr<FastConv> initFastConv(
                         const float* wptr = srcWeights + wstep * k_idx + c*Hk*Wk*Dk + hwd;
                         int k = 0;
                         for(; k < dk; k++, wptr += wstep)
-                            packed_wptr[k] = (float16_t)(*wptr);
+                            packed_wptr[k] = (__fp16)(*wptr);
                         for(; k < CONV_MR_FP16; k++)
-                            packed_wptr[k] = (float16_t)0.f;
+                            packed_wptr[k] = (__fp16)0.f;
                     }
                 }
             }});
@@ -467,8 +467,8 @@ static inline void packData8(char*& inpbuf, float*& inptrIn, int& in_w, int& x0,
     float* inptrInC = (float* )inptrIn;
 
 #ifdef CONV_ARM_FP16
-    float16_t* inpbufC_FP16 = (float16_t *)inpbufC;
-    if (esz == sizeof(float16_t))
+    __fp16* inpbufC_FP16 = (__fp16 *)inpbufC;
+    if (esz == sizeof(__fp16))
     {
         if (stride_w == 1)
         {
@@ -565,16 +565,16 @@ static inline void packData2(char *& inpbuf, float*& inptrIn, int& in_w, int& x0
     float* inptrInC = inptrIn;
 
 #ifdef CONV_ARM_FP16
-    float16_t* inpbufC_FP16 = (float16_t *)inpbufC;
-    if (esz == sizeof(float16_t))
+    __fp16* inpbufC_FP16 = (__fp16 *)inpbufC;
+    if (esz == sizeof(__fp16))
     {
         for (int k = 0; k < ksize; k++)
         {
             int k1 = ofstab[k];
             float v0 = inptrInC[k1];
             float v1 = inptrInC[k1 + stride_w];
-            inpbufC_FP16[k*CONV_NR_FP16] = (float16_t)v0;
-            inpbufC_FP16[k*CONV_NR_FP16+1] = (float16_t)v1;
+            inpbufC_FP16[k*CONV_NR_FP16] = (__fp16)v0;
+            inpbufC_FP16[k*CONV_NR_FP16+1] = (__fp16)v1;
         }
     } else
 #endif
@@ -630,7 +630,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                 if (useFP16)
                 {
                     for (int c = 0; c < Cg; c++, inptr += inp_planesize, inpbuf += CONV_NR_esz)
-                        _cvt32f16f(inptr, (float16_t *)inpbuf, CONV_NR);
+                        _cvt32f16f(inptr, (__fp16 *)inpbuf, CONV_NR);
                 }
                 else
 #endif
@@ -644,7 +644,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                 {
                     for (int c = 0; c < Cg; c++, inptr += inp_planesize, inpbuf += CONV_NR_esz)
                     {
-                        _cvt32f16f(inptr, (float16_t *)inpbuf, slice_len);
+                        _cvt32f16f(inptr, (__fp16 *)inpbuf, slice_len);
                     }
                 }
                 else
@@ -704,11 +704,11 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
 #ifdef CONV_ARM_FP16
                             if (useFP16)
                             {
-                                float16_t* inpbufC = (float16_t *)inpbuf + s0;
+                                __fp16* inpbufC = (__fp16 *)inpbuf + s0;
                                 for (int w = w0; w < w1; w++)
                                 {
                                     int imgofs = w*dilation_w;
-                                    inpbufC[w*CONV_NR] = (float16_t)inptrInC[imgofs];
+                                    inpbufC[w*CONV_NR] = (__fp16)inptrInC[imgofs];
                                 }
                             }
                             else
@@ -765,14 +765,14 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
 #ifdef CONV_ARM_FP16
                             if (useFP16)
                             {
-                                float16_t* inpbufC = (float16_t *)inpbuf + s0;
+                                __fp16* inpbufC = (__fp16 *)inpbuf + s0;
 
                                 for (int h = h0; h < h1; h++)
                                 {
                                     for (int w = w0; w < w1; w++)
                                     {
                                         int imgofs = h*(dilation_h*Wi) + w*dilation_w;
-                                        inpbufC[(h*Wk + w)*CONV_NR] = (float16_t)inptrInC[imgofs];
+                                        inpbufC[(h*Wk + w)*CONV_NR] = (__fp16)inptrInC[imgofs];
                                     }
                                 }
                             }
@@ -838,7 +838,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
 #ifdef CONV_ARM_FP16
                             if (useFP16)
                             {
-                                float16_t* inpbufC = (float16_t* )inpbuf + s0;
+                                __fp16* inpbufC = (__fp16* )inpbuf + s0;
 
                                 for ( int d = d0; d < d1; d++)
                                 {
@@ -847,7 +847,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                                         for (int w = w0; w < w1; w++)
                                         {
                                             int imgofs = d*dilation_d*HWi + h*(dilation_h*Wi) + w*dilation_w;
-                                            inpbufC[((d*Hk + h)*Wk + w)*CONV_NR] = (float16_t)inptrInC[imgofs];
+                                            inpbufC[((d*Hk + h)*Wk + w)*CONV_NR] = (__fp16)inptrInC[imgofs];
                                         }
                                     }
                                 }
@@ -889,7 +889,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                 {
                     float* inpbuf_ki = (float* )inpbuf + k * CONV_NR * Cg + i;
 #ifdef CONV_ARM_FP16
-                    float16_t * inpbuf_ki_FP16 = (float16_t *)inpbuf + k * CONV_NR * Cg + i;
+                    __fp16 * inpbuf_ki_FP16 = (__fp16 *)inpbuf + k * CONV_NR * Cg + i;
 #endif
 
                     int zi = z0 * stride_d + dz - pad_front;
@@ -1053,7 +1053,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                             if (useFP16)
                             {
                                 for (int c = 0; c < Cg; c++, inpbuf_ki_FP16 += CONV_NR, inptr_ki += inp_planesize)
-                                    inpbuf_ki_FP16[0] = (float16_t)(*inptr_ki);
+                                    inpbuf_ki_FP16[0] = (__fp16)(*inptr_ki);
                             }
                             else
 #endif
@@ -1069,7 +1069,7 @@ static inline void packInputData(char* inpbuf_task, float* inp, const int* ofsta
                         if (useFP16)
                         {
                             for (int c = 0; c < Cg; c++, inpbuf_ki_FP16 += CONV_NR)
-                                inpbuf_ki_FP16[0] = (float16_t)0.f;
+                                inpbuf_ki_FP16[0] = (__fp16)0.f;
                         }
                         else
 #endif
@@ -1257,7 +1257,7 @@ void runFastConv(InputArray _input, OutputArray _output, const Ptr<FastConv>& co
         // works at FP 16.
         CONV_NR = CONV_NR_FP16;
         CONV_MR = CONV_MR_FP16;
-        esz = sizeof(float16_t);
+        esz = sizeof(__fp16);
     }
 #endif
 
@@ -1511,7 +1511,7 @@ void runFastConv(InputArray _input, OutputArray _output, const Ptr<FastConv>& co
 
                             char *wptr = weights + (k0_block * DkHkWkCg + c0 * CONV_MR) * esz;
                             float *cptr = cbuf_task + stripe * CONV_NR;
-                            float16_t* cptr_f16 = (float16_t*)cbuf_task + stripe*CONV_NR;
+                            hfloat* cptr_f16 = (hfloat*)cbuf_task + stripe*CONV_NR;
                             for (int k = k0_block; k < k1_block; k += CONV_MR,
                                     wptr += DkHkWkCg * CONV_MR * esz, cptr += CONV_MR * ldc, cptr_f16 += CONV_MR * ldc)
                             {
@@ -1547,7 +1547,7 @@ void runFastConv(InputArray _input, OutputArray _output, const Ptr<FastConv>& co
 
                     size_t outofs = ((n * ngroups + g) * Kg + k0_block) * out_planesize + zyx0;
                     const float *cptr = cbuf_task;
-                    const float16_t *cptr_fp16 = (const float16_t *)cbuf_task;
+                    const hfloat *cptr_fp16 = (const hfloat *)cbuf_task;
                     float *outptr = out + outofs;
                     const float *pbptr = fusedAddPtr0 ? fusedAddPtr0 + outofs : 0;
 
diff --git a/modules/dnn/src/layers/cpu_kernels/convolution.hpp b/modules/dnn/src/layers/cpu_kernels/convolution.hpp
index e9f169bbaf..5c8055337c 100644
--- a/modules/dnn/src/layers/cpu_kernels/convolution.hpp
+++ b/modules/dnn/src/layers/cpu_kernels/convolution.hpp
@@ -62,10 +62,10 @@ struct FastConv
     float* getWeights();
     float* getWeightsWino();
 
-    std::vector<float16_t> weightsBuf_FP16;
-    std::vector<float16_t> weightsWinoBuf_FP16;
-    float16_t* getWeightsFP16();
-    float16_t* getWeightsWinoFP16();
+    std::vector<hfloat> weightsBuf_FP16;
+    std::vector<hfloat> weightsWinoBuf_FP16;
+    hfloat* getWeightsFP16();
+    hfloat* getWeightsWinoFP16();
 
     int conv_type;
     int conv_dim;  // Flag for conv1d, conv2d, or conv3d.
diff --git a/modules/dnn/src/onnx/onnx_graph_simplifier.cpp b/modules/dnn/src/onnx/onnx_graph_simplifier.cpp
index f4af272490..0f9e808817 100644
--- a/modules/dnn/src/onnx/onnx_graph_simplifier.cpp
+++ b/modules/dnn/src/onnx/onnx_graph_simplifier.cpp
@@ -1745,12 +1745,12 @@ Mat getMatFromTensor(const opencv_onnx::TensorProto& tensor_proto)
 #endif
             const ::google::protobuf::RepeatedField<int32_t> field = tensor_proto.int32_data();
 
-            AutoBuffer<float16_t, 16> aligned_val;
+            AutoBuffer<hfloat, 16> aligned_val;
             size_t sz = tensor_proto.int32_data().size();
             aligned_val.allocate(sz);
-            float16_t* bufPtr = aligned_val.data();
+            hfloat* bufPtr = aligned_val.data();
 
-            float16_t *fp16Ptr = (float16_t *)field.data();
+            hfloat *fp16Ptr = (hfloat *)field.data();
             for (int i = 0; i < sz; i++)
             {
                 bufPtr[i] = fp16Ptr[i*2 + offset];
@@ -1762,11 +1762,11 @@ Mat getMatFromTensor(const opencv_onnx::TensorProto& tensor_proto)
             char* val = const_cast<char*>(tensor_proto.raw_data().c_str());
 #if CV_STRONG_ALIGNMENT
             // Aligned pointer is required.
-            AutoBuffer<float16_t, 16> aligned_val;
-            if (!isAligned<sizeof(float16_t)>(val))
+            AutoBuffer<hfloat, 16> aligned_val;
+            if (!isAligned<sizeof(hfloat)>(val))
             {
                 size_t sz = tensor_proto.raw_data().size();
-                aligned_val.allocate(divUp(sz, sizeof(float16_t)));
+                aligned_val.allocate(divUp(sz, sizeof(hfloat)));
                 memcpy(aligned_val.data(), val, sz);
                 val = (char*)aligned_val.data();
             }
diff --git a/modules/features2d/misc/java/test/AKAZEDescriptorExtractorTest.java b/modules/features2d/misc/java/test/AKAZEDescriptorExtractorTest.java
index 69b12d00b1..a64b6ae4ad 100644
--- a/modules/features2d/misc/java/test/AKAZEDescriptorExtractorTest.java
+++ b/modules/features2d/misc/java/test/AKAZEDescriptorExtractorTest.java
@@ -58,7 +58,7 @@ public class AKAZEDescriptorExtractorTest extends OpenCVTestCase {
 
         extractor.write(filename);
 
-        String truth = "%YAML:1.0\n---\nformat: 3\nname: \"Feature2D.AKAZE\"\ndescriptor: 5\ndescriptor_channels: 3\ndescriptor_size: 0\nthreshold: 1.0000000474974513e-03\noctaves: 4\nsublevels: 4\ndiffusivity: 1\nmax_points: -1\n";
+        String truth = "%YAML:1.0\n---\nformat: 3\nname: \"Feature2D.AKAZE\"\ndescriptor: 5\ndescriptor_channels: 3\ndescriptor_size: 0\nthreshold: 0.0010000000474974513\noctaves: 4\nsublevels: 4\ndiffusivity: 1\nmax_points: -1\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e([+-])0(\\d\\d)", "e$1$2"); // NOTE: workaround for different platforms double representation
         assertEquals(truth, actual);
diff --git a/modules/features2d/misc/java/test/GFTTFeatureDetectorTest.java b/modules/features2d/misc/java/test/GFTTFeatureDetectorTest.java
index 86e42cbc1d..d21d4f2475 100644
--- a/modules/features2d/misc/java/test/GFTTFeatureDetectorTest.java
+++ b/modules/features2d/misc/java/test/GFTTFeatureDetectorTest.java
@@ -58,7 +58,7 @@ public class GFTTFeatureDetectorTest extends OpenCVTestCase {
 
         detector.write(filename);
 
-        String truth = "%YAML:1.0\n---\nname: \"Feature2D.GFTTDetector\"\nnfeatures: 1000\nqualityLevel: 1.0000000000000000e-02\nminDistance: 1.\nblockSize: 3\ngradSize: 3\nuseHarrisDetector: 0\nk: 4.0000000000000001e-02\n";
+        String truth = "%YAML:1.0\n---\nname: \"Feature2D.GFTTDetector\"\nnfeatures: 1000\nqualityLevel: 0.01\nminDistance: 1.\nblockSize: 3\ngradSize: 3\nuseHarrisDetector: 0\nk: 0.040000000000000001\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e([+-])0(\\d\\d)", "e$1$2"); // NOTE: workaround for different platforms double representation
         assertEquals(truth, actual);
diff --git a/modules/features2d/misc/java/test/KAZEDescriptorExtractorTest.java b/modules/features2d/misc/java/test/KAZEDescriptorExtractorTest.java
index 69ca35e015..d33ee24f49 100644
--- a/modules/features2d/misc/java/test/KAZEDescriptorExtractorTest.java
+++ b/modules/features2d/misc/java/test/KAZEDescriptorExtractorTest.java
@@ -57,7 +57,7 @@ public class KAZEDescriptorExtractorTest extends OpenCVTestCase {
 
         extractor.write(filename);
 
-        String truth = "%YAML:1.0\n---\nformat: 3\nname: \"Feature2D.KAZE\"\nextended: 0\nupright: 0\nthreshold: 1.0000000474974513e-03\noctaves: 4\nsublevels: 4\ndiffusivity: 1\n";
+        String truth = "%YAML:1.0\n---\nformat: 3\nname: \"Feature2D.KAZE\"\nextended: 0\nupright: 0\nthreshold: 0.0010000000474974513\noctaves: 4\nsublevels: 4\ndiffusivity: 1\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e([+-])0(\\d\\d)", "e$1$2"); // NOTE: workaround for different platforms double representation
         assertEquals(truth, actual);
diff --git a/modules/features2d/misc/java/test/MSERFeatureDetectorTest.java b/modules/features2d/misc/java/test/MSERFeatureDetectorTest.java
index 7f5f1c1849..956e0600e3 100644
--- a/modules/features2d/misc/java/test/MSERFeatureDetectorTest.java
+++ b/modules/features2d/misc/java/test/MSERFeatureDetectorTest.java
@@ -61,7 +61,7 @@ public class MSERFeatureDetectorTest extends OpenCVTestCase {
 
         detector.write(filename);
 
-        String truth = "%YAML:1.0\n---\nname: \"Feature2D.MSER\"\ndelta: 5\nminArea: 60\nmaxArea: 14400\nmaxVariation: 2.5000000000000000e-01\nminDiversity: 2.0000000000000001e-01\nmaxEvolution: 200\nareaThreshold: 1.0100000000000000e+00\nminMargin: 3.0000000000000001e-03\nedgeBlurSize: 5\npass2Only: 0\n";
+        String truth = "%YAML:1.0\n---\nname: \"Feature2D.MSER\"\ndelta: 5\nminArea: 60\nmaxArea: 14400\nmaxVariation: 0.25\nminDiversity: 0.20000000000000001\nmaxEvolution: 200\nareaThreshold: 1.01\nminMargin: 0.0030000000000000001\nedgeBlurSize: 5\npass2Only: 0\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e([+-])0(\\d\\d)", "e$1$2"); // NOTE: workaround for different platforms double representation
         assertEquals(truth, actual);
diff --git a/modules/features2d/misc/java/test/ORBDescriptorExtractorTest.java b/modules/features2d/misc/java/test/ORBDescriptorExtractorTest.java
index 6bc9bb6299..a1a96491f5 100644
--- a/modules/features2d/misc/java/test/ORBDescriptorExtractorTest.java
+++ b/modules/features2d/misc/java/test/ORBDescriptorExtractorTest.java
@@ -111,7 +111,7 @@ public class ORBDescriptorExtractorTest extends OpenCVTestCase {
 
         extractor.write(filename);
 
-        String truth = "%YAML:1.0\n---\nname: \"Feature2D.ORB\"\nnfeatures: 500\nscaleFactor: 1.2000000476837158e+00\nnlevels: 8\nedgeThreshold: 31\nfirstLevel: 0\nwta_k: 2\nscoreType: 0\npatchSize: 31\nfastThreshold: 20\n";
+        String truth = "%YAML:1.0\n---\nname: \"Feature2D.ORB\"\nnfeatures: 500\nscaleFactor: 1.2000000476837158\nnlevels: 8\nedgeThreshold: 31\nfirstLevel: 0\nwta_k: 2\nscoreType: 0\npatchSize: 31\nfastThreshold: 20\n";
 //        String truth = "%YAML:1.0\n---\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e\\+000", "e+00"); // NOTE: workaround for different platforms double representation
diff --git a/modules/features2d/misc/java/test/SIFTDescriptorExtractorTest.java b/modules/features2d/misc/java/test/SIFTDescriptorExtractorTest.java
index 63a59aa58c..dcd8564c3c 100644
--- a/modules/features2d/misc/java/test/SIFTDescriptorExtractorTest.java
+++ b/modules/features2d/misc/java/test/SIFTDescriptorExtractorTest.java
@@ -100,7 +100,7 @@ public class SIFTDescriptorExtractorTest extends OpenCVTestCase {
 
         extractor.write(filename);
 
-        String truth = "%YAML:1.0\n---\nname: \"Feature2D.SIFT\"\nnfeatures: 0\nnOctaveLayers: 3\ncontrastThreshold: 4.0000000000000001e-02\nedgeThreshold: 10.\nsigma: 1.6000000000000001e+00\ndescriptorType: 5\n";
+        String truth = "%YAML:1.0\n---\nname: \"Feature2D.SIFT\"\nnfeatures: 0\nnOctaveLayers: 3\ncontrastThreshold: 0.040000000000000001\nedgeThreshold: 10.\nsigma: 1.6000000000000001\ndescriptorType: 5\n";
         String actual = readFile(filename);
         actual = actual.replaceAll("e([+-])0(\\d\\d)", "e$1$2"); // NOTE: workaround for different platforms double representation
         assertEquals(truth, actual);
diff --git a/modules/features2d/misc/java/test/SIMPLEBLOBFeatureDetectorTest.java b/modules/features2d/misc/java/test/SIMPLEBLOBFeatureDetectorTest.java
index a67a0e8c3a..75817ca6b1 100644
--- a/modules/features2d/misc/java/test/SIMPLEBLOBFeatureDetectorTest.java
+++ b/modules/features2d/misc/java/test/SIMPLEBLOBFeatureDetectorTest.java
@@ -133,8 +133,7 @@ public class SIMPLEBLOBFeatureDetectorTest extends OpenCVTestCase {
         String filename = OpenCVTestRunner.getTempFileName("xml");
 
         detector.write(filename);
-
-        String truth = "<?xml version=\"1.0\"?>\n<opencv_storage>\n<format>3</format>\n<thresholdStep>10.</thresholdStep>\n<minThreshold>50.</minThreshold>\n<maxThreshold>220.</maxThreshold>\n<minRepeatability>2</minRepeatability>\n<minDistBetweenBlobs>10.</minDistBetweenBlobs>\n<filterByColor>1</filterByColor>\n<blobColor>0</blobColor>\n<filterByArea>1</filterByArea>\n<minArea>25.</minArea>\n<maxArea>5000.</maxArea>\n<filterByCircularity>0</filterByCircularity>\n<minCircularity>8.0000001192092896e-01</minCircularity>\n<maxCircularity>3.4028234663852886e+38</maxCircularity>\n<filterByInertia>1</filterByInertia>\n<minInertiaRatio>1.0000000149011612e-01</minInertiaRatio>\n<maxInertiaRatio>3.4028234663852886e+38</maxInertiaRatio>\n<filterByConvexity>1</filterByConvexity>\n<minConvexity>9.4999998807907104e-01</minConvexity>\n<maxConvexity>3.4028234663852886e+38</maxConvexity>\n<collectContours>0</collectContours>\n</opencv_storage>\n";
+        String truth = "<?xml version=\"1.0\"?>\n<opencv_storage>\n<format>3</format>\n<thresholdStep>10.</thresholdStep>\n<minThreshold>50.</minThreshold>\n<maxThreshold>220.</maxThreshold>\n<minRepeatability>2</minRepeatability>\n<minDistBetweenBlobs>10.</minDistBetweenBlobs>\n<filterByColor>1</filterByColor>\n<blobColor>0</blobColor>\n<filterByArea>1</filterByArea>\n<minArea>25.</minArea>\n<maxArea>5000.</maxArea>\n<filterByCircularity>0</filterByCircularity>\n<minCircularity>0.80000001192092896</minCircularity>\n<maxCircularity>3.4028234663852886e+38</maxCircularity>\n<filterByInertia>1</filterByInertia>\n<minInertiaRatio>0.10000000149011612</minInertiaRatio>\n<maxInertiaRatio>3.4028234663852886e+38</maxInertiaRatio>\n<filterByConvexity>1</filterByConvexity>\n<minConvexity>0.94999998807907104</minConvexity>\n<maxConvexity>3.4028234663852886e+38</maxConvexity>\n<collectContours>0</collectContours>\n</opencv_storage>\n";
         assertEquals(truth, readFile(filename));
     }
 }
diff --git a/modules/imgcodecs/src/ios_conversions.mm b/modules/imgcodecs/src/ios_conversions.mm
index 7992325d77..5fea686643 100644
--- a/modules/imgcodecs/src/ios_conversions.mm
+++ b/modules/imgcodecs/src/ios_conversions.mm
@@ -40,7 +40,7 @@
 //
 //M*/
 #include <TargetConditionals.h>
-#if TARGET_OS_IOS && !TARGET_OS_MACCATALYST
+#if (TARGET_OS_IOS || TARGET_OS_VISION) && !TARGET_OS_MACCATALYST
 
 #import <UIKit/UIKit.h>
 #include "apple_conversions.h"
diff --git a/modules/imgproc/doc/colors.markdown b/modules/imgproc/doc/colors.markdown
index 9881ca793f..9827f5e62d 100644
--- a/modules/imgproc/doc/colors.markdown
+++ b/modules/imgproc/doc/colors.markdown
@@ -6,8 +6,8 @@ See cv::cvtColor and cv::ColorConversionCodes
 @todo document other conversion modes
 
 @anchor color_convert_rgb_gray
-RGB \emoji arrow_right GRAY
-------------------------------
+RGB <-> GRAY
+------------
 Transformations within RGB space like adding/removing the alpha channel, reversing the channel
 order, conversion to/from 16-bit RGB color (R5:G6:B5 or R5:G5:B5), as well as conversion
 to/from grayscale using:
@@ -22,8 +22,8 @@ More advanced channel reordering can also be done with cv::mixChannels.
 @see cv::COLOR_BGR2GRAY, cv::COLOR_RGB2GRAY, cv::COLOR_GRAY2BGR, cv::COLOR_GRAY2RGB
 
 @anchor color_convert_rgb_xyz
-RGB \emoji arrow_right CIE XYZ.Rec 709 with D65 white point
---------------------------------------------------------------
+RGB <-> CIE XYZ.Rec 709 with D65 white point
+--------------------------------------------
 \f[\begin{bmatrix} X  \\ Y  \\ Z
   \end{bmatrix} \leftarrow \begin{bmatrix} 0.412453 & 0.357580 & 0.180423 \\ 0.212671 & 0.715160 & 0.072169 \\ 0.019334 & 0.119193 & 0.950227
   \end{bmatrix} \cdot \begin{bmatrix} R  \\ G  \\ B
@@ -37,8 +37,8 @@ RGB \emoji arrow_right CIE XYZ.Rec 709 with D65 white point
 @see cv::COLOR_BGR2XYZ, cv::COLOR_RGB2XYZ, cv::COLOR_XYZ2BGR, cv::COLOR_XYZ2RGB
 
 @anchor color_convert_rgb_ycrcb
-RGB \emoji arrow_right YCrCb JPEG (or YCC)
----------------------------------------------
+RGB <-> YCrCb JPEG (or YCC)
+---------------------------
 \f[Y  \leftarrow 0.299  \cdot R + 0.587  \cdot G + 0.114  \cdot B\f]
 \f[Cr  \leftarrow (R-Y)  \cdot 0.713 + delta\f]
 \f[Cb  \leftarrow (B-Y)  \cdot 0.564 + delta\f]
@@ -51,8 +51,8 @@ Y, Cr, and Cb cover the whole value range.
 @see cv::COLOR_BGR2YCrCb, cv::COLOR_RGB2YCrCb, cv::COLOR_YCrCb2BGR, cv::COLOR_YCrCb2RGB
 
 @anchor color_convert_rgb_hsv
-RGB \emoji arrow_right HSV
------------------------------
+RGB <-> HSV
+-----------
 In case of 8-bit and 16-bit images, R, G, and B are converted to the floating-point format and
 scaled to fit the 0 to 1 range.
 
@@ -73,8 +73,8 @@ The values are then converted to the destination data type:
 @see cv::COLOR_BGR2HSV, cv::COLOR_RGB2HSV, cv::COLOR_HSV2BGR, cv::COLOR_HSV2RGB
 
 @anchor color_convert_rgb_hls
-RGB \emoji arrow_right HLS
------------------------------
+RGB <-> HLS
+-----------
 In case of 8-bit and 16-bit images, R, G, and B are converted to the floating-point format and
 scaled to fit the 0 to 1 range.
 
@@ -98,8 +98,8 @@ The values are then converted to the destination data type:
 @see cv::COLOR_BGR2HLS, cv::COLOR_RGB2HLS, cv::COLOR_HLS2BGR, cv::COLOR_HLS2RGB
 
 @anchor color_convert_rgb_lab
-RGB \emoji arrow_right CIE L\*a\*b\*
----------------------------------------
+RGB <-> CIE L\*a\*b\*
+---------------------
 In case of 8-bit and 16-bit images, R, G, and B are converted to the floating-point format and
 scaled to fit the 0 to 1 range.
 
@@ -123,8 +123,8 @@ are then converted to the destination data type:
 @see cv::COLOR_BGR2Lab, cv::COLOR_RGB2Lab, cv::COLOR_Lab2BGR, cv::COLOR_Lab2RGB
 
 @anchor color_convert_rgb_luv
-RGB \emoji arrow_right CIE L\*u\*v\*
----------------------------------------
+RGB <-> CIE L\*u\*v\*
+---------------------
 In case of 8-bit and 16-bit images, R, G, and B are converted to the floating-point format and
 scaled to fit 0 to 1 range.
 
@@ -150,8 +150,8 @@ sources on the web, primarily from the Charles Poynton site <http://www.poynton.
 @see cv::COLOR_BGR2Luv, cv::COLOR_RGB2Luv, cv::COLOR_Luv2BGR, cv::COLOR_Luv2RGB
 
 @anchor color_convert_bayer
-Bayer \emoji arrow_right RGB
----------------------------
+Bayer -> RGB
+------------
 The Bayer pattern is widely used in CCD and CMOS cameras. It enables you to get color pictures
 from a single plane where R, G, and B pixels (sensors of a particular component) are interleaved
 as follows:
diff --git a/modules/imgproc/src/bilateral_filter.dispatch.cpp b/modules/imgproc/src/bilateral_filter.dispatch.cpp
index 501af5b244..4ccec12496 100644
--- a/modules/imgproc/src/bilateral_filter.dispatch.cpp
+++ b/modules/imgproc/src/bilateral_filter.dispatch.cpp
@@ -415,6 +415,9 @@ void bilateralFilter( InputArray _src, OutputArray _dst, int d,
 
     Mat src = _src.getMat(), dst = _dst.getMat();
 
+    CALL_HAL(bilateralFilter, cv_hal_bilateralFilter, src.data, src.step, dst.data, dst.step, src.cols, src.rows, src.depth(),
+             src.channels(), d, sigmaColor, sigmaSpace, borderType);
+
     CV_IPP_RUN_FAST(ipp_bilateralFilter(src, dst, d, sigmaColor, sigmaSpace, borderType));
 
     if( src.depth() == CV_8U )
diff --git a/modules/imgproc/src/hal_replacement.hpp b/modules/imgproc/src/hal_replacement.hpp
index c066f3d6f3..5c6497bd80 100644
--- a/modules/imgproc/src/hal_replacement.hpp
+++ b/modules/imgproc/src/hal_replacement.hpp
@@ -763,6 +763,29 @@ inline int hal_ni_medianBlur(const uchar* src_data, size_t src_step, uchar* dst_
 #define cv_hal_medianBlur hal_ni_medianBlur
 //! @endcond
 
+/**
+   @brief Calculate bilateral filter. See https://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/MANDUCHI1/Bilateral_Filtering.html
+   @param src_data Source image data
+   @param src_step Source image step
+   @param dst_data Destination image data
+   @param dst_step Destination image step
+   @param width Source image width
+   @param height Source image height
+   @param depth Depths of source and destination image. Should support CV_8U and CV_32F
+   @param cn Number of channels
+   @param d Diameter of each pixel neighborhood that is used during filtering. If it is non-positive, it is computed from sigmaSpace
+   @param sigma_color Filter sigma in the color space
+   @param sigma_space Filter sigma in the coordinate space. When d>0, it specifies the neighborhood size regardless of sigmaSpace. Otherwise, d is proportional to sigmaSpace
+   @param border_type border mode used to extrapolate pixels outside of the image
+*/
+inline int hal_ni_bilateralFilter(const uchar* src_data, size_t src_step, uchar* dst_data, size_t dst_step,
+                                  int width, int height, int depth, int cn, int d, double sigma_color, double sigma_space, int border_type)
+{ return CV_HAL_ERROR_NOT_IMPLEMENTED; }
+
+//! @cond IGNORED
+#define cv_hal_bilateralFilter hal_ni_bilateralFilter
+//! @endcond
+
 /**
    @brief Calculates adaptive threshold
    @param src_data Source image data
diff --git a/modules/objdetect/test/test_aruco_tutorial.cpp b/modules/objdetect/test/test_aruco_tutorial.cpp
new file mode 100644
index 0000000000..1af91bc637
--- /dev/null
+++ b/modules/objdetect/test/test_aruco_tutorial.cpp
@@ -0,0 +1,246 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "test_precomp.hpp"
+#include "opencv2/objdetect/aruco_detector.hpp"
+
+namespace opencv_test { namespace {
+
+
+TEST(CV_ArucoTutorial, can_find_singlemarkersoriginal)
+{
+    string img_path = cvtest::findDataFile("aruco/singlemarkersoriginal.jpg");
+    Mat image = imread(img_path);
+    aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
+
+    vector<int> ids;
+    vector<vector<Point2f> > corners, rejected;
+    const size_t N = 6ull;
+    // corners of ArUco markers with indices goldCornersIds
+    const int goldCorners[N][8] = { {359,310, 404,310, 410,350, 362,350}, {427,255, 469,256, 477,289, 434,288},
+                                    {233,273, 190,273, 196,241, 237,241}, {298,185, 334,186, 335,212, 297,211},
+                                    {425,163, 430,186, 394,186, 390,162}, {195,155, 230,155, 227,178, 190,178} };
+    const int goldCornersIds[N] = { 40, 98, 62, 23, 124, 203};
+    map<int, const int*> mapGoldCorners;
+    for (size_t i = 0; i < N; i++)
+        mapGoldCorners[goldCornersIds[i]] = goldCorners[i];
+
+    detector.detectMarkers(image, corners, ids, rejected);
+
+    ASSERT_EQ(N, ids.size());
+    for (size_t i = 0; i < N; i++)
+    {
+        int arucoId = ids[i];
+        ASSERT_EQ(4ull, corners[i].size());
+        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
+        for (int j = 0; j < 4; j++)
+        {
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
+        }
+    }
+}
+
+TEST(CV_ArucoTutorial, can_find_gboriginal)
+{
+    string imgPath = cvtest::findDataFile("aruco/gboriginal.jpg");
+    Mat image = imread(imgPath);
+    string dictPath = cvtest::findDataFile("aruco/tutorial_dict.yml");
+    aruco::Dictionary dictionary;
+
+    FileStorage fs(dictPath, FileStorage::READ);
+    dictionary.aruco::Dictionary::readDictionary(fs.root()); // set marker from tutorial_dict.yml
+    aruco::DetectorParameters detectorParams;
+
+    aruco::ArucoDetector detector(dictionary, detectorParams);
+
+    vector<int> ids;
+    vector<vector<Point2f> > corners, rejected;
+    const size_t N = 35ull;
+    // corners of ArUco markers with indices 0, 1, ..., 34
+    const int goldCorners[N][8] = { {252,74, 286,81, 274,102, 238,95},    {295,82, 330,89, 319,111, 282,104},
+                                    {338,91, 375,99, 365,121, 327,113},   {383,100, 421,107, 412,130, 374,123},
+                                    {429,109, 468,116, 461,139, 421,132}, {235,100, 270,108, 257,130, 220,122},
+                                    {279,109, 316,117, 304,140, 266,133}, {324,119, 362,126, 352,150, 313,143},
+                                    {371,128, 410,136, 400,161, 360,152}, {418,139, 459,145, 451,170, 410,163},
+                                    {216,128, 253,136, 239,161, 200,152}, {262,138, 300,146, 287,172, 248,164},
+                                    {309,148, 349,156, 337,183, 296,174}, {358,158, 398,167, 388,194, 346,185},
+                                    {407,169, 449,176, 440,205, 397,196}, {196,158, 235,168, 218,195, 179,185},
+                                    {243,170, 283,178, 269,206, 228,197}, {293,180, 334,190, 321,218, 279,209},
+                                    {343,192, 385,200, 374,230, 330,220}, {395,203, 438,211, 429,241, 384,233},
+                                    {174,192, 215,201, 197,231, 156,221}, {223,204, 265,213, 249,244, 207,234},
+                                    {275,215, 317,225, 303,257, 259,246}, {327,227, 371,238, 359,270, 313,259},
+                                    {381,240, 426,249, 416,282, 369,273}, {151,228, 193,238, 173,271, 130,260},
+                                    {202,241, 245,251, 228,285, 183,274}, {255,254, 300,264, 284,299, 238,288},
+                                    {310,267, 355,278, 342,314, 295,302}, {366,281, 413,290, 402,327, 353,317},
+                                    {125,267, 168,278, 147,314, 102,303}, {178,281, 223,293, 204,330, 157,317},
+                                    {233,296, 280,307, 263,346, 214,333}, {291,310, 338,322, 323,363, 274,349},
+                                    {349,325, 399,336, 386,378, 335,366} };
+    map<int, const int*> mapGoldCorners;
+    for (int i = 0; i < static_cast<int>(N); i++)
+        mapGoldCorners[i] = goldCorners[i];
+
+    detector.detectMarkers(image, corners, ids, rejected);
+
+    ASSERT_EQ(N, ids.size());
+    for (size_t i = 0; i < N; i++)
+    {
+        int arucoId = ids[i];
+        ASSERT_EQ(4ull, corners[i].size());
+        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
+        for (int j = 0; j < 4; j++)
+        {
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2]), corners[i][j].x, 1.f);
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j*2+1]), corners[i][j].y, 1.f);
+        }
+    }
+}
+
+TEST(CV_ArucoTutorial, can_find_choriginal)
+{
+    string imgPath = cvtest::findDataFile("aruco/choriginal.jpg");
+    Mat image = imread(imgPath);
+    aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
+
+    vector< int > ids;
+    vector< vector< Point2f > > corners, rejected;
+    const size_t N = 17ull;
+    // corners of aruco markers with indices goldCornersIds
+    const int goldCorners[N][8] = { {268,77,  290,80,  286,97,  263,94},  {360,90,  382,93,  379,111, 357,108},
+                                    {211,106, 233,109, 228,127, 205,123}, {306,120, 328,124, 325,142, 302,138},
+                                    {402,135, 425,139, 423,157, 400,154}, {247,152, 271,155, 267,174, 242,171},
+                                    {347,167, 371,171, 369,191, 344,187}, {185,185, 209,189, 203,210, 178,206},
+                                    {288,201, 313,206, 309,227, 284,223}, {393,218, 418,222, 416,245, 391,241},
+                                    {223,240, 250,244, 244,268, 217,263}, {333,258, 359,262, 356,286, 329,282},
+                                    {152,281, 179,285, 171,312, 143,307}, {267,300, 294,305, 289,331, 261,327},
+                                    {383,319, 410,324, 408,351, 380,347}, {194,347, 223,352, 216,382, 186,377},
+                                    {315,368, 345,373, 341,403, 310,398} };
+    map<int, const int*> mapGoldCorners;
+    for (int i = 0; i < static_cast<int>(N); i++)
+        mapGoldCorners[i] = goldCorners[i];
+
+    detector.detectMarkers(image, corners, ids, rejected);
+
+    ASSERT_EQ(N, ids.size());
+    for (size_t i = 0; i < N; i++)
+    {
+        int arucoId = ids[i];
+        ASSERT_EQ(4ull, corners[i].size());
+        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
+        for (int j = 0; j < 4; j++)
+        {
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
+        }
+    }
+}
+
+TEST(CV_ArucoTutorial, can_find_chocclusion)
+{
+    string imgPath = cvtest::findDataFile("aruco/chocclusion_original.jpg");
+    Mat image = imread(imgPath);
+    aruco::ArucoDetector detector(aruco::getPredefinedDictionary(aruco::DICT_6X6_250));
+
+    vector< int > ids;
+    vector< vector< Point2f > > corners, rejected;
+    const size_t N = 13ull;
+    // corners of aruco markers with indices goldCornersIds
+    const int goldCorners[N][8] = { {301,57, 322,62, 317,79, 295,73}, {391,80, 413,85, 408,103, 386,97},
+                                    {242,79, 264,85, 256,102, 234,96}, {334,103, 357,109, 352,126, 329,121},
+                                    {428,129, 451,134, 448,152, 425,146}, {274,128, 296,134, 290,153, 266,147},
+                                    {371,154, 394,160, 390,180, 366,174}, {208,155, 232,161, 223,181, 199,175},
+                                    {309,182, 333,188, 327,209, 302,203}, {411,210, 436,216, 432,238, 407,231},
+                                    {241,212, 267,219, 258,242, 232,235}, {167,244, 194,252, 183,277, 156,269},
+                                    {202,314, 230,322, 220,349, 191,341} };
+    map<int, const int*> mapGoldCorners;
+    const int goldCornersIds[N] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 15};
+    for (int i = 0; i < static_cast<int>(N); i++)
+        mapGoldCorners[goldCornersIds[i]] = goldCorners[i];
+
+    detector.detectMarkers(image, corners, ids, rejected);
+
+    ASSERT_EQ(N, ids.size());
+    for (size_t i = 0; i < N; i++)
+    {
+        int arucoId = ids[i];
+        ASSERT_EQ(4ull, corners[i].size());
+        ASSERT_TRUE(mapGoldCorners.find(arucoId) != mapGoldCorners.end());
+        for (int j = 0; j < 4; j++)
+        {
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2]), corners[i][j].x, 1.f);
+            EXPECT_NEAR(static_cast<float>(mapGoldCorners[arucoId][j * 2 + 1]), corners[i][j].y, 1.f);
+        }
+    }
+}
+
+TEST(CV_ArucoTutorial, can_find_diamondmarkers)
+{
+    string imgPath = cvtest::findDataFile("aruco/diamondmarkers.jpg");
+    Mat image = imread(imgPath);
+
+    string dictPath = cvtest::findDataFile("aruco/tutorial_dict.yml");
+    aruco::Dictionary dictionary;
+    FileStorage fs(dictPath, FileStorage::READ);
+    dictionary.aruco::Dictionary::readDictionary(fs.root()); // set marker from tutorial_dict.yml
+
+    string detectorPath = cvtest::findDataFile("aruco/detector_params.yml");
+    fs = FileStorage(detectorPath, FileStorage::READ);
+    aruco::DetectorParameters detectorParams;
+    detectorParams.readDetectorParameters(fs.root());
+    detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_APRILTAG;
+
+    aruco::CharucoBoard charucoBoard(Size(3, 3), 0.4f, 0.25f, dictionary);
+    aruco::CharucoDetector detector(charucoBoard, aruco::CharucoParameters(), detectorParams);
+
+    vector<int> ids;
+    vector<vector<Point2f> > corners, diamondCorners;
+    vector<Vec4i> diamondIds;
+    const size_t N = 12ull;
+    // corner indices of ArUco markers
+    const int goldCornersIds[N] = { 4, 12, 11, 3, 12, 10, 12, 10, 10, 11, 2, 11 };
+    map<int, int> counterGoldCornersIds;
+    for (int i = 0; i < static_cast<int>(N); i++)
+        counterGoldCornersIds[goldCornersIds[i]]++;
+
+    const size_t diamondsN = 3;
+    // corners of diamonds with Vec4i indices
+    const float goldDiamondCorners[diamondsN][8] = {{195.6f,150.9f, 213.5f,201.2f, 136.4f,215.3f, 122.4f,163.5f},
+                                            {501.1f,171.3f, 501.9f,208.5f, 446.2f,199.8f, 447.8f,163.3f},
+                                            {343.4f,361.2f, 359.7f,328.7f, 400.8f,344.6f, 385.7f,378.4f}};
+    auto comp = [](const Vec4i& a, const Vec4i& b) {
+        for (int i = 0; i < 3; i++)
+            if (a[i] != b[i]) return a[i] < b[i];
+        return a[3] < b[3];
+    };
+    map<Vec4i, const float*, decltype(comp)> goldDiamonds(comp);
+    goldDiamonds[Vec4i(10, 4, 11, 12)] = goldDiamondCorners[0];
+    goldDiamonds[Vec4i(10, 3, 11, 12)] = goldDiamondCorners[1];
+    goldDiamonds[Vec4i(10, 2, 11, 12)] = goldDiamondCorners[2];
+
+    detector.detectDiamonds(image, diamondCorners, diamondIds, corners, ids);
+    map<int, int> counterRes;
+
+    ASSERT_EQ(N, ids.size());
+    for (size_t i = 0; i < N; i++)
+    {
+        int arucoId = ids[i];
+        counterRes[arucoId]++;
+    }
+
+    ASSERT_EQ(counterGoldCornersIds, counterRes); // check the number of ArUco markers
+    ASSERT_EQ(goldDiamonds.size(), diamondIds.size()); // check the number of diamonds
+
+    for (size_t i = 0; i < goldDiamonds.size(); i++)
+    {
+        Vec4i diamondId = diamondIds[i];
+        ASSERT_TRUE(goldDiamonds.find(diamondId) != goldDiamonds.end());
+        for (int j = 0; j < 4; j++)
+        {
+            EXPECT_NEAR(goldDiamonds[diamondId][j * 2], diamondCorners[i][j].x, 0.5f);
+            EXPECT_NEAR(goldDiamonds[diamondId][j * 2 + 1], diamondCorners[i][j].y, 0.5f);
+        }
+    }
+}
+
+}} // namespace
diff --git a/modules/photo/src/inpaint.cpp b/modules/photo/src/inpaint.cpp
index b4448f45dd..0fe3550bb8 100644
--- a/modules/photo/src/inpaint.cpp
+++ b/modules/photo/src/inpaint.cpp
@@ -46,6 +46,7 @@
 // */
 
 #include <queue>
+#include <type_traits>
 
 #include "precomp.hpp"
 #include "opencv2/core/core_c.h"
@@ -55,6 +56,16 @@
 #define CV_MAT_ELEM_PTR_FAST( mat, row, col, pix_size )  \
      ((mat).data.ptr + (size_t)(mat).step*(row) + (pix_size)*(col))
 
+template<typename T>
+typename std::enable_if<std::is_floating_point<T>::value, T>::type round_cast(float val) {
+   return cv::saturate_cast<T>(val);
+}
+
+template<typename T>
+typename std::enable_if<!std::is_floating_point<T>::value, T>::type round_cast(float val) {
+   return cv::saturate_cast<T>(val + 0.5);
+}
+
 inline float
 min4( float a, float b, float c, float d )
 {
@@ -339,8 +350,8 @@ icvTeleaInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQu
                   }
                }
                for (color=0; color<=2; color++) {
-                  sat = (float)((Ia[color]/s[color]+(Jx[color]+Jy[color])/(sqrt(Jx[color]*Jx[color]+Jy[color]*Jy[color])+1.0e-20f)+0.5f));
-                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = cv::saturate_cast<uchar>(sat);
+                  sat = (float)(Ia[color]/s[color]+(Jx[color]+Jy[color])/(sqrt(Jx[color]*Jx[color]+Jy[color]*Jy[color])+1.0e-20f));
+                  CV_MAT_3COLOR_ELEM(*out,uchar,i-1,j-1,color) = round_cast<uchar>(sat);
                }
 
                CV_MAT_ELEM(*f,uchar,i,j) = BAND;
@@ -449,9 +460,9 @@ icvTeleaInpaintFMM(const CvMat *f, CvMat *t, CvMat *out, int range, CvPriorityQu
                         }
                      }
                   }
-                  sat = (float)((Ia/s+(Jx+Jy)/(sqrt(Jx*Jx+Jy*Jy)+1.0e-20f)+0.5f));
+                  sat = (float)(Ia/s+(Jx+Jy)/(sqrt(Jx*Jx+Jy*Jy)+1.0e-20f));
                   {
-                  CV_MAT_ELEM(*out,data_type,i-1,j-1) = cv::saturate_cast<data_type>(sat);
+                  CV_MAT_ELEM(*out,data_type,i-1,j-1) = round_cast<data_type>(sat);
                   }
                }
 
diff --git a/modules/photo/test/test_inpaint.cpp b/modules/photo/test/test_inpaint.cpp
index 58806cbbc2..1536490693 100644
--- a/modules/photo/test/test_inpaint.cpp
+++ b/modules/photo/test/test_inpaint.cpp
@@ -116,9 +116,9 @@ void CV_InpaintTest::run( int )
 
 TEST(Photo_Inpaint, regression) { CV_InpaintTest test; test.safe_run(); }
 
-typedef testing::TestWithParam<tuple<int> > formats;
+typedef testing::TestWithParam<tuple<perf::MatType> > formats;
 
-TEST_P(formats, 1c)
+TEST_P(formats, basic)
 {
     const int type = get<0>(GetParam());
     Mat src(100, 100, type);
@@ -126,18 +126,18 @@ TEST_P(formats, 1c)
     Mat ref = src.clone();
     Mat dst, mask = Mat::zeros(src.size(), CV_8U);
 
-    circle(src, Point(50, 50), 5, Scalar(200), 6);
-    circle(mask, Point(50, 50), 5, Scalar(200), 6);
+    circle(src, Point(50, 50), 5, Scalar::all(200), 6);
+    circle(mask, Point(50, 50), 5, Scalar::all(200), 6);
     inpaint(src, mask, dst, 10, INPAINT_NS);
 
     Mat dst2;
     inpaint(src, mask, dst2, 10, INPAINT_TELEA);
 
-    ASSERT_LE(cv::norm(dst, ref, NORM_INF), 3.);
-    ASSERT_LE(cv::norm(dst2, ref, NORM_INF), 3.);
+    ASSERT_EQ(cv::norm(dst, ref, NORM_INF), 0.);
+    ASSERT_EQ(cv::norm(dst2, ref, NORM_INF), 0.);
 }
 
-INSTANTIATE_TEST_CASE_P(Photo_Inpaint, formats, testing::Values(CV_32F, CV_16U, CV_8U));
+INSTANTIATE_TEST_CASE_P(Photo_Inpaint, formats, testing::Values(CV_32FC1, CV_16UC1, CV_8UC1, CV_8UC3));
 
 TEST(Photo_InpaintBorders, regression)
 {
diff --git a/modules/python/src2/typing_stubs_generation/predefined_types.py b/modules/python/src2/typing_stubs_generation/predefined_types.py
index 0514a14dda..f5ba0bc29e 100644
--- a/modules/python/src2/typing_stubs_generation/predefined_types.py
+++ b/modules/python/src2/typing_stubs_generation/predefined_types.py
@@ -34,7 +34,10 @@ _PREDEFINED_TYPES = (
     PrimitiveTypeNode.str_("char"),
     PrimitiveTypeNode.str_("String"),
     PrimitiveTypeNode.str_("c_string"),
-    ConditionalAliasTypeNode.numpy_array_("NumPyArrayGeneric"),
+    ConditionalAliasTypeNode.numpy_array_(
+        "NumPyArrayNumeric",
+        dtype="numpy.integer[_typing.Any] | numpy.floating[_typing.Any]"
+    ),
     ConditionalAliasTypeNode.numpy_array_("NumPyArrayFloat32", dtype="numpy.float32"),
     ConditionalAliasTypeNode.numpy_array_("NumPyArrayFloat64", dtype="numpy.float64"),
     NoneTypeNode("void"),
@@ -42,7 +45,7 @@ _PREDEFINED_TYPES = (
     AliasTypeNode.union_(
         "Mat",
         items=(ASTNodeTypeNode("Mat", module_name="cv2.mat_wrapper"),
-               AliasRefTypeNode("NumPyArrayGeneric")),
+               AliasRefTypeNode("NumPyArrayNumeric")),
         export_name="MatLike"
     ),
     AliasTypeNode.sequence_("MatShape", PrimitiveTypeNode.int_()),
diff --git a/modules/videoio/src/cap_avfoundation.mm b/modules/videoio/src/cap_avfoundation.mm
index 0853e57255..2df990392f 100644
--- a/modules/videoio/src/cap_avfoundation.mm
+++ b/modules/videoio/src/cap_avfoundation.mm
@@ -221,18 +221,18 @@ cv::Ptr<cv::IVideoCapture> cv::create_AVFoundation_capture_file(const std::strin
 
 }
 
-#if !TARGET_OS_VISION
 
 cv::Ptr<cv::IVideoCapture> cv::create_AVFoundation_capture_cam(int index)
 {
+#if !TARGET_OS_VISION
     CvCaptureCAM* retval = new CvCaptureCAM(index);
     if (retval->didStart())
         return cv::makePtr<cv::LegacyCapture>(retval);
     delete retval;
+#endif
     return 0;
 }
 
-#endif
 
 cv::Ptr<cv::IVideoWriter> cv::create_AVFoundation_writer(const std::string& filename, int fourcc,
                                                          double fps, const cv::Size &frameSize,
diff --git a/platforms/ios/PrivacyInfo.xcprivacy b/platforms/ios/PrivacyInfo.xcprivacy
new file mode 100644
index 0000000000..f369de3813
--- /dev/null
+++ b/platforms/ios/PrivacyInfo.xcprivacy
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+    <key>NSPrivacyTracking</key>
+    <false/>
+    <key>NSPrivacyCollectedDataTypes</key>
+    <array/>
+    <key>NSPrivacyTrackingDomains</key>
+    <array/>
+    <key>NSPrivacyAccessedAPITypes</key>
+    <array>
+        <dict>
+            <key>NSPrivacyAccessedAPIType</key>
+            <string>NSPrivacyAccessedAPICategoryFileTimestamp</string>
+            <key>NSPrivacyAccessedAPITypeReasons</key>
+            <array>
+                <string>0A2A.1</string>
+            </array>
+        </dict>
+        <dict>
+            <key>NSPrivacyAccessedAPIType</key>
+            <string>NSPrivacyAccessedAPICategorySystemBootTime</string>
+            <key>NSPrivacyAccessedAPITypeReasons</key>
+            <array>
+                <string>35F9.1</string>
+            </array>
+        </dict>
+    </array>
+</dict>
+</plist>
diff --git a/platforms/ios/build_framework.py b/platforms/ios/build_framework.py
index 4a5194a4a6..2c513e4ee2 100755
--- a/platforms/ios/build_framework.py
+++ b/platforms/ios/build_framework.py
@@ -46,6 +46,9 @@ from cv_build_utils import execute, print_error, get_xcode_major, get_xcode_sett
 
 IPHONEOS_DEPLOYMENT_TARGET='9.0'  # default, can be changed via command line options or environment variable
 
+CURRENT_FILE_DIR = os.path.dirname(__file__)
+
+
 class Builder:
     def __init__(self, opencv, contrib, dynamic, bitcodedisabled, exclude, disable, enablenonfree, targets, debug, debug_info, framework_name, run_tests, build_docs, swiftdisabled):
         self.opencv = os.path.abspath(opencv)
@@ -477,6 +480,9 @@ class Builder:
                 s = os.path.join(*l[0])
                 d = os.path.join(framework_dir, *l[1])
                 os.symlink(s, d)
+        # Copy Apple privacy manifest
+        shutil.copyfile(os.path.join(CURRENT_FILE_DIR, "PrivacyInfo.xcprivacy"),
+                        os.path.join(resdir, "PrivacyInfo.xcprivacy"))
 
     def copy_samples(self, outdir):
         return
diff --git a/samples/cpp/tutorial_code/objectDetection/aruco_samples_utility.hpp b/samples/cpp/tutorial_code/objectDetection/aruco_samples_utility.hpp
index 3b28a91977..05c52e1133 100644
--- a/samples/cpp/tutorial_code/objectDetection/aruco_samples_utility.hpp
+++ b/samples/cpp/tutorial_code/objectDetection/aruco_samples_utility.hpp
@@ -45,4 +45,47 @@ inline static bool saveCameraParams(const std::string &filename, cv::Size imageS
     return true;
 }
 
+inline static cv::aruco::DetectorParameters readDetectorParamsFromCommandLine(cv::CommandLineParser &parser) {
+    cv::aruco::DetectorParameters detectorParams;
+    if (parser.has("dp")) {
+        cv::FileStorage fs(parser.get<std::string>("dp"), cv::FileStorage::READ);
+        bool readOk = detectorParams.readDetectorParameters(fs.root());
+        if(!readOk) {
+            throw std::runtime_error("Invalid detector parameters file\n");
+        }
+    }
+    return detectorParams;
+}
+
+inline static void readCameraParamsFromCommandLine(cv::CommandLineParser &parser, cv::Mat& camMatrix, cv::Mat& distCoeffs) {
+    //! [camDistCoeffs]
+    if(parser.has("c")) {
+        bool readOk = readCameraParameters(parser.get<std::string>("c"), camMatrix, distCoeffs);
+        if(!readOk) {
+            throw std::runtime_error("Invalid camera file\n");
+        }
+    }
+    //! [camDistCoeffs]
+}
+
+inline static cv::aruco::Dictionary readDictionatyFromCommandLine(cv::CommandLineParser &parser) {
+    cv::aruco::Dictionary dictionary;
+    if (parser.has("cd")) {
+        cv::FileStorage fs(parser.get<std::string>("cd"), cv::FileStorage::READ);
+        bool readOk = dictionary.readDictionary(fs.root());
+        if(!readOk) {
+            throw std::runtime_error("Invalid dictionary file\n");
+        }
+    }
+    else {
+        int dictionaryId = parser.has("d") ? parser.get<int>("d"): cv::aruco::DICT_4X4_50;
+        if (!parser.has("d")) {
+            std::cout << "The default DICT_4X4_50 dictionary has been selected, you could "
+                         "select the specific dictionary using flags -d or -cd." << std::endl;
+        }
+        dictionary = cv::aruco::getPredefinedDictionary(dictionaryId);
+    }
+    return dictionary;
+}
+
 }
diff --git a/samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp b/samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp
new file mode 100644
index 0000000000..b415477019
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/calibrate_camera.cpp
@@ -0,0 +1,188 @@
+#include <ctime>
+#include <iostream>
+#include <vector>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+
+namespace {
+const char* about =
+        "Calibration using a ArUco Planar Grid board\n"
+        "  To capture a frame for calibration, press 'c',\n"
+        "  If input comes from video, press any key for next frame\n"
+        "  To finish capturing, press 'ESC' key and calibration starts.\n";
+const char* keys  =
+        "{w        |       | Number of squares in X direction }"
+        "{h        |       | Number of squares in Y direction }"
+        "{l        |       | Marker side length (in meters) }"
+        "{s        |       | Separation between two consecutive markers in the grid (in meters) }"
+        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{@outfile |cam.yml| Output file with calibrated camera parameters }"
+        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
+        "{dp       |       | File of marker detector parameters }"
+        "{rs       | false | Apply refind strategy }"
+        "{zt       | false | Assume zero tangential distortion }"
+        "{a        |       | Fix aspect ratio (fx/fy) to this value }"
+        "{pc       | false | Fix the principal point at the center }";
+}
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    if(argc < 6) {
+        parser.printMessage();
+        return 0;
+    }
+
+    int markersX = parser.get<int>("w");
+    int markersY = parser.get<int>("h");
+    float markerLength = parser.get<float>("l");
+    float markerSeparation = parser.get<float>("s");
+    string outputFile = parser.get<string>(0);
+
+    int calibrationFlags = 0;
+    float aspectRatio = 1;
+    if(parser.has("a")) {
+        calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
+        aspectRatio = parser.get<float>("a");
+    }
+    if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
+    if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
+
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+
+    bool refindStrategy = parser.get<bool>("rs");
+    int camId = parser.get<int>("ci");
+    String video;
+
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    VideoCapture inputVideo;
+    int waitTime;
+    if(!video.empty()) {
+        inputVideo.open(video);
+        waitTime = 0;
+    } else {
+        inputVideo.open(camId);
+        waitTime = 10;
+    }
+
+    //! [CalibrationWithArucoBoard1]
+    // Create board object and ArucoDetector
+    aruco::GridBoard gridboard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
+    aruco::ArucoDetector detector(dictionary, detectorParams);
+
+    // Collected frames for calibration
+    vector<vector<vector<Point2f>>> allMarkerCorners;
+    vector<vector<int>> allMarkerIds;
+    Size imageSize;
+
+    while(inputVideo.grab()) {
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+
+        vector<int> markerIds;
+        vector<vector<Point2f>> markerCorners, rejectedMarkers;
+
+        // Detect markers
+        detector.detectMarkers(image, markerCorners, markerIds, rejectedMarkers);
+
+        // Refind strategy to detect more markers
+        if(refindStrategy) {
+            detector.refineDetectedMarkers(image, gridboard, markerCorners, markerIds, rejectedMarkers);
+        }
+        //! [CalibrationWithArucoBoard1]
+
+        // Draw results
+        image.copyTo(imageCopy);
+
+        if(!markerIds.empty()) {
+            aruco::drawDetectedMarkers(imageCopy, markerCorners, markerIds);
+        }
+
+        putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
+                Point(10, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 2);
+        imshow("out", imageCopy);
+
+        // Wait for key pressed
+        char key = (char)waitKey(waitTime);
+
+        if(key == 27) {
+             break;
+        }
+
+        //! [CalibrationWithArucoBoard2]
+        if(key == 'c' && !markerIds.empty()) {
+            cout << "Frame captured" << endl;
+            allMarkerCorners.push_back(markerCorners);
+            allMarkerIds.push_back(markerIds);
+            imageSize = image.size();
+        }
+    }
+    //! [CalibrationWithArucoBoard2]
+
+    if(allMarkerIds.empty()) {
+        throw std::runtime_error("Not enough captures for calibration\n");
+    }
+
+    //! [CalibrationWithArucoBoard3]
+    Mat cameraMatrix, distCoeffs;
+
+    if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
+        cameraMatrix = Mat::eye(3, 3, CV_64F);
+        cameraMatrix.at<double>(0, 0) = aspectRatio;
+    }
+
+    // Prepare data for calibration
+    vector<Point3f> objectPoints;
+    vector<Point2f> imagePoints;
+    vector<Mat> processedObjectPoints, processedImagePoints;
+    size_t nFrames = allMarkerCorners.size();
+
+    for(size_t frame = 0; frame < nFrames; frame++) {
+        Mat currentImgPoints, currentObjPoints;
+
+        gridboard.matchImagePoints(allMarkerCorners[frame], allMarkerIds[frame], currentObjPoints, currentImgPoints);
+
+        if(currentImgPoints.total() > 0 && currentObjPoints.total() > 0) {
+            processedImagePoints.push_back(currentImgPoints);
+            processedObjectPoints.push_back(currentObjPoints);
+        }
+    }
+
+    // Calibrate camera
+    double repError = calibrateCamera(processedObjectPoints, processedImagePoints, imageSize, cameraMatrix, distCoeffs,
+                                      noArray(), noArray(), noArray(), noArray(), noArray(), calibrationFlags);
+    //! [CalibrationWithArucoBoard3]
+    bool saveOk = saveCameraParams(outputFile, imageSize, aspectRatio, calibrationFlags,
+                                   cameraMatrix, distCoeffs, repError);
+
+    if(!saveOk) {
+        throw std::runtime_error("Cannot save output file\n");
+    }
+
+    cout << "Rep Error: " << repError << endl;
+    cout << "Calibration saved to " << outputFile << endl;
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp b/samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp
new file mode 100644
index 0000000000..5bea807db9
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/calibrate_camera_charuco.cpp
@@ -0,0 +1,216 @@
+#include <iostream>
+#include <vector>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+namespace {
+const char* about =
+        "Calibration using a ChArUco board\n"
+        "  To capture a frame for calibration, press 'c',\n"
+        "  If input comes from video, press any key for next frame\n"
+        "  To finish capturing, press 'ESC' key and calibration starts.\n";
+const char* keys  =
+        "{w        |       | Number of squares in X direction }"
+        "{h        |       | Number of squares in Y direction }"
+        "{sl       |       | Square side length (in meters) }"
+        "{ml       |       | Marker side length (in meters) }"
+        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{@outfile |cam.yml| Output file with calibrated camera parameters }"
+        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
+        "{dp       |       | File of marker detector parameters }"
+        "{rs       | false | Apply refind strategy }"
+        "{zt       | false | Assume zero tangential distortion }"
+        "{a        |       | Fix aspect ratio (fx/fy) to this value }"
+        "{pc       | false | Fix the principal point at the center }"
+        "{sc       | false | Show detected chessboard corners after calibration }";
+}
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    if(argc < 7) {
+        parser.printMessage();
+        return 0;
+    }
+
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    string outputFile = parser.get<string>(0);
+
+    bool showChessboardCorners = parser.get<bool>("sc");
+
+    int calibrationFlags = 0;
+    float aspectRatio = 1;
+    if(parser.has("a")) {
+        calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
+        aspectRatio = parser.get<float>("a");
+    }
+    if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
+    if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
+
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+
+    bool refindStrategy = parser.get<bool>("rs");
+    int camId = parser.get<int>("ci");
+    String video;
+
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    VideoCapture inputVideo;
+    int waitTime;
+    if(!video.empty()) {
+        inputVideo.open(video);
+        waitTime = 0;
+    } else {
+        inputVideo.open(camId);
+        waitTime = 10;
+    }
+
+    aruco::CharucoParameters charucoParams;
+    if(refindStrategy) {
+        charucoParams.tryRefineMarkers = true;
+    }
+
+    //! [CalibrationWithCharucoBoard1]
+    // Create charuco board object and CharucoDetector
+    aruco::CharucoBoard board(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
+    aruco::CharucoDetector detector(board, charucoParams, detectorParams);
+
+    // Collect data from each frame
+    vector<Mat> allCharucoCorners, allCharucoIds;
+
+    vector<vector<Point2f>> allImagePoints;
+    vector<vector<Point3f>> allObjectPoints;
+
+    vector<Mat> allImages;
+    Size imageSize;
+
+    while(inputVideo.grab()) {
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+
+        vector<int> markerIds;
+        vector<vector<Point2f>> markerCorners;
+        Mat currentCharucoCorners, currentCharucoIds;
+        vector<Point3f> currentObjectPoints;
+        vector<Point2f> currentImagePoints;
+
+        // Detect ChArUco board
+        detector.detectBoard(image, currentCharucoCorners, currentCharucoIds);
+        //! [CalibrationWithCharucoBoard1]
+
+        // Draw results
+        image.copyTo(imageCopy);
+        if(!markerIds.empty()) {
+            aruco::drawDetectedMarkers(imageCopy, markerCorners);
+        }
+
+        if(currentCharucoCorners.total() > 3) {
+            aruco::drawDetectedCornersCharuco(imageCopy, currentCharucoCorners, currentCharucoIds);
+        }
+
+        putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
+                Point(10, 20), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 0, 0), 2);
+
+        imshow("out", imageCopy);
+
+        // Wait for key pressed
+        char key = (char)waitKey(waitTime);
+
+        if(key == 27) {
+            break;
+        }
+
+        //! [CalibrationWithCharucoBoard2]
+        if(key == 'c' && currentCharucoCorners.total() > 3) {
+            // Match image points
+            board.matchImagePoints(currentCharucoCorners, currentCharucoIds, currentObjectPoints, currentImagePoints);
+
+            if(currentImagePoints.empty() || currentObjectPoints.empty()) {
+                cout << "Point matching failed, try again." << endl;
+                continue;
+            }
+
+            cout << "Frame captured" << endl;
+
+            allCharucoCorners.push_back(currentCharucoCorners);
+            allCharucoIds.push_back(currentCharucoIds);
+            allImagePoints.push_back(currentImagePoints);
+            allObjectPoints.push_back(currentObjectPoints);
+            allImages.push_back(image);
+
+            imageSize = image.size();
+        }
+    }
+    //! [CalibrationWithCharucoBoard2]
+
+    if(allCharucoCorners.size() < 4) {
+        cerr << "Not enough corners for calibration" << endl;
+        return 0;
+    }
+
+    //! [CalibrationWithCharucoBoard3]
+    Mat cameraMatrix, distCoeffs;
+
+    if(calibrationFlags & CALIB_FIX_ASPECT_RATIO) {
+        cameraMatrix = Mat::eye(3, 3, CV_64F);
+        cameraMatrix.at<double>(0, 0) = aspectRatio;
+    }
+
+    // Calibrate camera using ChArUco
+    double repError = calibrateCamera(allObjectPoints, allImagePoints, imageSize, cameraMatrix, distCoeffs,
+                                      noArray(), noArray(), noArray(), noArray(), noArray(), calibrationFlags);
+    //! [CalibrationWithCharucoBoard3]
+
+    bool saveOk =  saveCameraParams(outputFile, imageSize, aspectRatio, calibrationFlags,
+                                    cameraMatrix, distCoeffs, repError);
+
+    if(!saveOk) {
+        cerr << "Cannot save output file" << endl;
+        return 0;
+    }
+
+    cout << "Rep Error: " << repError << endl;
+    cout << "Calibration saved to " << outputFile << endl;
+
+    // Show interpolated charuco corners for debugging
+    if(showChessboardCorners) {
+        for(size_t frame = 0; frame < allImages.size(); frame++) {
+            Mat imageCopy = allImages[frame].clone();
+
+            if(allCharucoCorners[frame].total() > 0) {
+                aruco::drawDetectedCornersCharuco(imageCopy, allCharucoCorners[frame], allCharucoIds[frame]);
+            }
+
+            imshow("out", imageCopy);
+            char key = (char)waitKey(0);
+            if(key == 27) {
+                break;
+            }
+        }
+    }
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/create_board.cpp b/samples/cpp/tutorial_code/objectDetection/create_board.cpp
index ead9f73857..b1864ffc19 100644
--- a/samples/cpp/tutorial_code/objectDetection/create_board.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_board.cpp
@@ -23,7 +23,6 @@ const char* keys  =
         "{si       | false | show generated image }";
 }
 
-
 int main(int argc, char *argv[]) {
     CommandLineParser parser(argc, argv, keys);
     parser.about(about);
@@ -57,25 +56,7 @@ int main(int argc, char *argv[]) {
     imageSize.height =
         markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins;
 
-    aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
-    if (parser.has("d")) {
-        int dictionaryId = parser.get<int>("d");
-        dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
-    }
-    else if (parser.has("cd")) {
-        FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
-        bool readOk = dictionary.readDictionary(fs.root());
-        if(!readOk)
-        {
-            std::cerr << "Invalid dictionary file" << std::endl;
-            return 0;
-        }
-    }
-    else {
-        std::cerr << "Dictionary not specified" << std::endl;
-        return 0;
-    }
-
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
     aruco::GridBoard board(Size(markersX, markersY), float(markerLength), float(markerSeparation), dictionary);
 
     // show created board
@@ -90,6 +71,5 @@ int main(int argc, char *argv[]) {
     }
 
     imwrite(out, boardImage);
-
     return 0;
 }
diff --git a/samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp b/samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp
new file mode 100644
index 0000000000..b76708817a
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/create_board_charuco.cpp
@@ -0,0 +1,77 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace cv;
+
+namespace {
+const char* about = "Create a ChArUco board image";
+//! [charuco_detect_board_keys]
+const char* keys  =
+        "{@outfile |res.png| Output image }"
+        "{w        |  5    | Number of squares in X direction }"
+        "{h        |  7    | Number of squares in Y direction }"
+        "{sl       |  100  | Square side length (in pixels) }"
+        "{ml       |  60   | Marker side length (in pixels) }"
+        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{m        |       | Margins size (in pixels). Default is (squareLength-markerLength) }"
+        "{bb       | 1     | Number of bits in marker borders }"
+        "{si       | false | show generated image }";
+}
+//! [charuco_detect_board_keys]
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+    if (argc == 1) {
+        parser.printMessage();
+    }
+
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    int squareLength = parser.get<int>("sl");
+    int markerLength = parser.get<int>("ml");
+    int margins = squareLength - markerLength;
+    if(parser.has("m")) {
+        margins = parser.get<int>("m");
+    }
+
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
+
+    std::string pathOutImg = parser.get<std::string>(0);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    //! [create_charucoBoard]
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    cv::aruco::CharucoBoard board(Size(squaresX, squaresY), (float)squareLength, (float)markerLength, dictionary);
+    //! [create_charucoBoard]
+
+    // show created board
+    //! [generate_charucoBoard]
+    Mat boardImage;
+    Size imageSize;
+    imageSize.width = squaresX * squareLength + 2 * margins;
+    imageSize.height = squaresY * squareLength + 2 * margins;
+    board.generateImage(imageSize, boardImage, margins, borderBits);
+    //! [generate_charucoBoard]
+
+    if(showImage) {
+        imshow("board", boardImage);
+        waitKey(0);
+    }
+
+    if (pathOutImg != "")
+        imwrite(pathOutImg, boardImage);
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/create_diamond.cpp b/samples/cpp/tutorial_code/objectDetection/create_diamond.cpp
new file mode 100644
index 0000000000..0db00e7e02
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/create_diamond.cpp
@@ -0,0 +1,72 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include <vector>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+namespace {
+const char* about = "Create a ChArUco marker image";
+const char* keys  =
+        "{@outfile |   res.png | Output image }"
+        "{sl       |   100     | Square side length (in pixels) }"
+        "{ml       |   60      | Marker side length (in pixels) }"
+        "{cd       |           | Input file with custom dictionary }"
+        "{d        |   10      | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{ids      |0, 1, 2, 3 | Four ids for the ChArUco marker: id1,id2,id3,id4 }"
+        "{m        |   0       | Margins size (in pixels) }"
+        "{bb       |   1       | Number of bits in marker borders }"
+        "{si       |   false   | show generated image }";
+}
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    int squareLength = parser.get<int>("sl");
+    int markerLength = parser.get<int>("ml");
+    string idsString = parser.get<string>("ids");
+    int margins = parser.get<int>("m");
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
+    string out = parser.get<string>(0);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    istringstream ss(idsString);
+    vector<string> splittedIds;
+    string token;
+    while(getline(ss, token, ','))
+        splittedIds.push_back(token);
+    if(splittedIds.size() < 4) {
+        throw std::runtime_error("Incorrect ids format\n");
+    }
+    Vec4i ids;
+    for(int i = 0; i < 4; i++)
+        ids[i] = atoi(splittedIds[i].c_str());
+
+    //! [generate_diamond]
+    vector<int> diamondIds = {ids[0], ids[1], ids[2], ids[3]};
+    aruco::CharucoBoard charucoBoard(Size(3, 3), (float)squareLength, (float)markerLength, dictionary, diamondIds);
+    Mat markerImg;
+    charucoBoard.generateImage(Size(3*squareLength + 2*margins, 3*squareLength + 2*margins), markerImg, margins, borderBits);
+    //! [generate_diamond]
+
+    if(showImage) {
+        imshow("board", markerImg);
+        waitKey(0);
+    }
+
+    if (out != "")
+        imwrite(out, markerImg);
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/create_marker.cpp b/samples/cpp/tutorial_code/objectDetection/create_marker.cpp
index 57b08b0ef7..560e51c974 100644
--- a/samples/cpp/tutorial_code/objectDetection/create_marker.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/create_marker.cpp
@@ -10,13 +10,13 @@ const char* about = "Create an ArUco marker image";
 
 //! [aruco_create_markers_keys]
 const char* keys  =
-        "{@outfile |<none> | Output image }"
-        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "{@outfile |res.png| Output image }"
+        "{d        | 0     | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
         "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
         "{cd       |       | Input file with custom dictionary }"
-        "{id       |       | Marker id in the dictionary }"
+        "{id       | 0     | Marker id in the dictionary }"
         "{ms       | 200   | Marker size in pixels }"
         "{bb       | 1     | Number of bits in marker borders }"
         "{si       | false | show generated image }";
@@ -28,11 +28,6 @@ int main(int argc, char *argv[]) {
     CommandLineParser parser(argc, argv, keys);
     parser.about(about);
 
-    if(argc < 4) {
-        parser.printMessage();
-        return 0;
-    }
-
     int markerId = parser.get<int>("id");
     int borderBits = parser.get<int>("bb");
     int markerSize = parser.get<int>("ms");
@@ -45,23 +40,7 @@ int main(int argc, char *argv[]) {
         return 0;
     }
 
-    aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
-    if (parser.has("d")) {
-        int dictionaryId = parser.get<int>("d");
-        dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
-    }
-    else if (parser.has("cd")) {
-        FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
-        bool readOk = dictionary.readDictionary(fs.root());
-        if(!readOk) {
-            std::cerr << "Invalid dictionary file" << std::endl;
-            return 0;
-        }
-    }
-    else {
-        std::cerr << "Dictionary not specified" << std::endl;
-        return 0;
-    }
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
 
     Mat markerImg;
     aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);
diff --git a/samples/cpp/tutorial_code/objectDetection/detect_board.cpp b/samples/cpp/tutorial_code/objectDetection/detect_board.cpp
index ffea660e76..a9c74f2fdc 100644
--- a/samples/cpp/tutorial_code/objectDetection/detect_board.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_board.cpp
@@ -30,46 +30,6 @@ const char* keys  =
 }
 //! [aruco_detect_board_keys]
 
-static void readDetectorParamsFromCommandLine(CommandLineParser &parser, aruco::DetectorParameters& detectorParams) {
-    if(parser.has("dp")) {
-        FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
-        bool readOk = detectorParams.readDetectorParameters(fs.root());
-        if(!readOk) {
-            cerr << "Invalid detector parameters file" << endl;
-            throw -1;
-        }
-    }
-}
-
-static void readCameraParamsFromCommandLine(CommandLineParser &parser, Mat& camMatrix, Mat& distCoeffs) {
-    if(parser.has("c")) {
-        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
-        if(!readOk) {
-            cerr << "Invalid camera file" << endl;
-            throw -1;
-        }
-    }
-}
-
-static void readDictionatyFromCommandLine(CommandLineParser &parser, aruco::Dictionary& dictionary) {
-    if (parser.has("d")) {
-        int dictionaryId = parser.get<int>("d");
-        dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
-    }
-    else if (parser.has("cd")) {
-        FileStorage fs(parser.get<string>("cd"), FileStorage::READ);
-        bool readOk = dictionary.readDictionary(fs.root());
-        if(!readOk) {
-            cerr << "Invalid dictionary file" << endl;
-            throw -1;
-        }
-    }
-    else {
-        cerr << "Dictionary not specified" << endl;
-        throw -1;
-    }
-}
-
 int main(int argc, char *argv[]) {
     CommandLineParser parser(argc, argv, keys);
     parser.about(about);
@@ -91,10 +51,8 @@ int main(int argc, char *argv[]) {
 
     Mat camMatrix, distCoeffs;
     readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
-
-    aruco::DetectorParameters detectorParams;
-    detectorParams.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
-    readDetectorParamsFromCommandLine(parser, detectorParams);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
 
     String video;
     if(parser.has("v")) {
@@ -106,9 +64,6 @@ int main(int argc, char *argv[]) {
         return 0;
     }
 
-    aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
-    readDictionatyFromCommandLine(parser, dictionary);
-
     aruco::ArucoDetector detector(dictionary, detectorParams);
     VideoCapture inputVideo;
     int waitTime;
@@ -181,9 +136,8 @@ int main(int argc, char *argv[]) {
 
         // Draw results
         image.copyTo(imageCopy);
-        if(!ids.empty()) {
+        if(!ids.empty())
             aruco::drawDetectedMarkers(imageCopy, corners, ids);
-        }
 
         if(showRejected && !rejected.empty())
             aruco::drawDetectedMarkers(imageCopy, rejected, noArray(), Scalar(100, 0, 255));
diff --git a/samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp b/samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp
new file mode 100644
index 0000000000..c02318d6eb
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/detect_board_charuco.cpp
@@ -0,0 +1,144 @@
+#include <opencv2/highgui.hpp>
+//! [charucohdr]
+#include <opencv2/objdetect/charuco_detector.hpp>
+//! [charucohdr]
+#include <vector>
+#include <iostream>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+namespace {
+const char* about = "Pose estimation using a ChArUco board";
+const char* keys  =
+        "{w        |       | Number of squares in X direction }"
+        "{h        |       | Number of squares in Y direction }"
+        "{sl       |       | Square side length (in meters) }"
+        "{ml       |       | Marker side length (in meters) }"
+        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{c        |       | Output file with calibrated camera parameters }"
+        "{v        |       | Input from video or image file, if ommited, input comes from camera }"
+        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
+        "{dp       |       | File of marker detector parameters }"
+        "{rs       |       | Apply refind strategy }";
+}
+
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    if(argc < 6) {
+        parser.printMessage();
+        return 0;
+    }
+
+    //! [charuco_detect_board_full_sample]
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    bool refine = parser.has("rs");
+    int camId = parser.get<int>("ci");
+
+    string video;
+    if(parser.has("v")) {
+        video = parser.get<string>("v");
+    }
+
+    Mat camMatrix, distCoeffs;
+    readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    VideoCapture inputVideo;
+    int waitTime = 0;
+    if(!video.empty()) {
+        inputVideo.open(video);
+    } else {
+        inputVideo.open(camId);
+        waitTime = 10;
+    }
+
+    float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength));
+
+    // create charuco board object
+    aruco::CharucoBoard charucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
+
+    // create charuco detector
+    aruco::CharucoParameters charucoParams;
+    charucoParams.tryRefineMarkers = refine; // if tryRefineMarkers, refineDetectedMarkers() will be used in detectBoard()
+    charucoParams.cameraMatrix = camMatrix; // cameraMatrix can be used in detectBoard()
+    charucoParams.distCoeffs = distCoeffs; // distCoeffs can be used in detectBoard()
+    aruco::CharucoDetector charucoDetector(charucoBoard, charucoParams, detectorParams);
+
+    double totalTime = 0;
+    int totalIterations = 0;
+
+    while(inputVideo.grab()) {
+        //! [inputImg]
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+        //! [inputImg]
+
+        double tick = (double)getTickCount();
+
+        vector<int> markerIds, charucoIds;
+        vector<vector<Point2f> > markerCorners;
+        vector<Point2f> charucoCorners;
+        Vec3d rvec, tvec;
+
+        //! [interpolateCornersCharuco]
+        // detect markers and charuco corners
+        charucoDetector.detectBoard(image, charucoCorners, charucoIds, markerCorners, markerIds);
+        //! [interpolateCornersCharuco]
+
+        //! [poseCharuco]
+        // estimate charuco board pose
+        bool validPose = false;
+        if(camMatrix.total() != 0 && distCoeffs.total() != 0 && charucoIds.size() >= 4) {
+            Mat objPoints, imgPoints;
+            charucoBoard.matchImagePoints(charucoCorners, charucoIds, objPoints, imgPoints);
+            validPose = solvePnP(objPoints, imgPoints, camMatrix, distCoeffs, rvec, tvec);
+        }
+        //! [poseCharuco]
+
+        double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
+        totalTime += currentTime;
+        totalIterations++;
+        if(totalIterations % 30 == 0) {
+            cout << "Detection Time = " << currentTime * 1000 << " ms "
+                 << "(Mean = " << 1000 * totalTime / double(totalIterations) << " ms)" << endl;
+        }
+
+        // draw results
+        image.copyTo(imageCopy);
+        if(markerIds.size() > 0) {
+            aruco::drawDetectedMarkers(imageCopy, markerCorners);
+        }
+
+        if(charucoIds.size() > 0) {
+            //! [drawDetectedCornersCharuco]
+            aruco::drawDetectedCornersCharuco(imageCopy, charucoCorners, charucoIds, cv::Scalar(255, 0, 0));
+            //! [drawDetectedCornersCharuco]
+        }
+
+        if(validPose)
+            cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvec, tvec, axisLength);
+
+        imshow("out", imageCopy);
+        if(waitKey(waitTime) == 27) break;
+    }
+    //! [charuco_detect_board_full_sample]
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp b/samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp
new file mode 100644
index 0000000000..f6a6236b2a
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/detect_diamonds.cpp
@@ -0,0 +1,187 @@
+#include <opencv2/highgui.hpp>
+#include <vector>
+#include <iostream>
+#include <opencv2/objdetect/charuco_detector.hpp>
+#include "aruco_samples_utility.hpp"
+
+using namespace std;
+using namespace cv;
+
+
+namespace {
+const char* about = "Detect ChArUco markers";
+const char* keys  =
+        "{sl       | 100   | Square side length (in meters) }"
+        "{ml       | 60    | Marker side length (in meters) }"
+        "{d        | 10    | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
+        "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
+        "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
+        "{cd       |       | Input file with custom dictionary }"
+        "{c        |       | Output file with calibrated camera parameters }"
+        "{as       |       | Automatic scale. The provided number is multiplied by the last"
+        "diamond id becoming an indicator of the square length. In this case, the -sl and "
+        "-ml are only used to know the relative length relation between squares and markers }"
+        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
+        "{dp       |       | File of marker detector parameters }"
+        "{refine   |       | Corner refinement: CORNER_REFINE_NONE=0, CORNER_REFINE_SUBPIX=1,"
+        "CORNER_REFINE_CONTOUR=2, CORNER_REFINE_APRILTAG=3}";
+
+const string refineMethods[4] = {
+    "None",
+    "Subpixel",
+    "Contour",
+    "AprilTag"
+};
+
+}
+
+int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
+
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    bool estimatePose = parser.has("c");
+    bool autoScale = parser.has("as");
+    float autoScaleFactor = autoScale ? parser.get<float>("as") : 1.f;
+
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
+    Mat camMatrix, distCoeffs;
+    readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
+
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+    if (parser.has("refine")) {
+        // override cornerRefinementMethod read from config file
+        int user_method = parser.get<aruco::CornerRefineMethod>("refine");
+        if (user_method < 0 || user_method >= 4)
+        {
+            std::cout << "Corner refinement method should be in range 0..3" << std::endl;
+            return 0;
+        }
+        detectorParams.cornerRefinementMethod = user_method;
+    }
+    std::cout << "Corner refinement method: " << refineMethods[detectorParams.cornerRefinementMethod] << std::endl;
+
+    int camId = parser.get<int>("ci");
+    String video;
+
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    VideoCapture inputVideo;
+    int waitTime;
+    if(!video.empty()) {
+        inputVideo.open(video);
+        waitTime = 0;
+    } else {
+        inputVideo.open(camId);
+        waitTime = 10;
+    }
+
+    double totalTime = 0;
+    int totalIterations = 0;
+
+    aruco::CharucoBoard charucoBoard(Size(3, 3), squareLength, markerLength, dictionary);
+    aruco::CharucoDetector detector(charucoBoard, aruco::CharucoParameters(), detectorParams);
+
+    while(inputVideo.grab()) {
+        Mat image, imageCopy;
+        inputVideo.retrieve(image);
+
+        double tick = (double)getTickCount();
+
+        //! [detect_diamonds]
+        vector<int> markerIds;
+        vector<Vec4i> diamondIds;
+        vector<vector<Point2f> > markerCorners, diamondCorners;
+        vector<Vec3d> rvecs, tvecs;
+
+        detector.detectDiamonds(image, diamondCorners, diamondIds, markerCorners, markerIds);
+        //! [detect_diamonds]
+
+        //! [diamond_pose_estimation]
+        // estimate diamond pose
+        size_t N = diamondIds.size();
+        if(estimatePose && N > 0) {
+            cv::Mat objPoints(4, 1, CV_32FC3);
+            rvecs.resize(N);
+            tvecs.resize(N);
+            if(!autoScale) {
+                // set coordinate system
+                objPoints.ptr<Vec3f>(0)[0] = Vec3f(-squareLength/2.f, squareLength/2.f, 0);
+                objPoints.ptr<Vec3f>(0)[1] = Vec3f(squareLength/2.f, squareLength/2.f, 0);
+                objPoints.ptr<Vec3f>(0)[2] = Vec3f(squareLength/2.f, -squareLength/2.f, 0);
+                objPoints.ptr<Vec3f>(0)[3] = Vec3f(-squareLength/2.f, -squareLength/2.f, 0);
+                // Calculate pose for each marker
+                for (size_t i = 0ull; i < N; i++)
+                    solvePnP(objPoints, diamondCorners.at(i), camMatrix, distCoeffs, rvecs.at(i), tvecs.at(i));
+                //! [diamond_pose_estimation]
+                /* //! [diamond_pose_estimation_as_charuco]
+                for (size_t i = 0ull; i < N; i++) { // estimate diamond pose as Charuco board
+                    Mat objPoints_b, imgPoints;
+                    // The coordinate system of the diamond is placed in the board plane centered in the bottom left corner
+                    vector<int> charucoIds = {0, 1, 3, 2}; // if CCW order, Z axis pointing in the plane
+                    // vector<int> charucoIds = {0, 2, 3, 1}; // if CW order, Z axis pointing out the plane
+                    charucoBoard.matchImagePoints(diamondCorners[i], charucoIds, objPoints_b, imgPoints);
+                    solvePnP(objPoints_b, imgPoints, camMatrix, distCoeffs, rvecs[i], tvecs[i]);
+                }
+                //! [diamond_pose_estimation_as_charuco] */
+            }
+            else {
+                // if autoscale, extract square size from last diamond id
+                for(size_t i = 0; i < N; i++) {
+                    float sqLenScale = autoScaleFactor * float(diamondIds[i].val[3]);
+                    vector<vector<Point2f> > currentCorners;
+                    vector<Vec3d> currentRvec, currentTvec;
+                    currentCorners.push_back(diamondCorners[i]);
+                    // set coordinate system
+                    objPoints.ptr<Vec3f>(0)[0] = Vec3f(-sqLenScale/2.f, sqLenScale/2.f, 0);
+                    objPoints.ptr<Vec3f>(0)[1] = Vec3f(sqLenScale/2.f, sqLenScale/2.f, 0);
+                    objPoints.ptr<Vec3f>(0)[2] = Vec3f(sqLenScale/2.f, -sqLenScale/2.f, 0);
+                    objPoints.ptr<Vec3f>(0)[3] = Vec3f(-sqLenScale/2.f, -sqLenScale/2.f, 0);
+                    solvePnP(objPoints, diamondCorners.at(i), camMatrix, distCoeffs, rvecs.at(i), tvecs.at(i));
+                }
+            }
+        }
+
+
+        double currentTime = ((double)getTickCount() - tick) / getTickFrequency();
+        totalTime += currentTime;
+        totalIterations++;
+        if(totalIterations % 30 == 0) {
+            cout << "Detection Time = " << currentTime * 1000 << " ms "
+                 << "(Mean = " << 1000 * totalTime / double(totalIterations) << " ms)" << endl;
+        }
+
+
+        // draw results
+        image.copyTo(imageCopy);
+        if(markerIds.size() > 0)
+            aruco::drawDetectedMarkers(imageCopy, markerCorners);
+
+        //! [draw_diamonds]
+        if(diamondIds.size() > 0) {
+            aruco::drawDetectedDiamonds(imageCopy, diamondCorners, diamondIds);
+        //! [draw_diamonds]
+
+            //! [draw_diamond_pose_estimation]
+            if(estimatePose) {
+                for(size_t i = 0u; i < diamondIds.size(); i++)
+                    cv::drawFrameAxes(imageCopy, camMatrix, distCoeffs, rvecs[i], tvecs[i], squareLength*1.1f);
+            }
+            //! [draw_diamond_pose_estimation]
+        }
+        imshow("out", imageCopy);
+        char key = (char)waitKey(waitTime);
+        if(key == 27) break;
+    }
+    return 0;
+}
diff --git a/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp b/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
index 720fb8ddae..f220b84565 100644
--- a/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
+++ b/samples/cpp/tutorial_code/objectDetection/detect_markers.cpp
@@ -11,7 +11,7 @@ const char* about = "Basic marker detection";
 
 //! [aruco_detect_markers_keys]
 const char* keys  =
-        "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
+        "{d        | 0     | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
         "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16,"
@@ -25,37 +25,41 @@ const char* keys  =
         "{r        |       | show rejected candidates too }"
         "{refine   |       | Corner refinement: CORNER_REFINE_NONE=0, CORNER_REFINE_SUBPIX=1,"
         "CORNER_REFINE_CONTOUR=2, CORNER_REFINE_APRILTAG=3}";
-}
+
 //! [aruco_detect_markers_keys]
 
+const string refineMethods[4] = {
+    "None",
+    "Subpixel",
+    "Contour",
+    "AprilTag"
+};
+
+}
+
 int main(int argc, char *argv[]) {
     CommandLineParser parser(argc, argv, keys);
     parser.about(about);
 
-    if(argc < 2) {
-        parser.printMessage();
-        return 0;
-    }
-
     bool showRejected = parser.has("r");
     bool estimatePose = parser.has("c");
     float markerLength = parser.get<float>("l");
 
-    cv::aruco::DetectorParameters detectorParams;
-    if(parser.has("dp")) {
-        cv::FileStorage fs(parser.get<string>("dp"), FileStorage::READ);
-        bool readOk = detectorParams.readDetectorParameters(fs.root());
-        if(!readOk) {
-            cerr << "Invalid detector parameters file" << endl;
-            return 0;
-        }
-    }
+    aruco::DetectorParameters detectorParams = readDetectorParamsFromCommandLine(parser);
+    aruco::Dictionary dictionary = readDictionatyFromCommandLine(parser);
 
     if (parser.has("refine")) {
         // override cornerRefinementMethod read from config file
-        detectorParams.cornerRefinementMethod = parser.get<aruco::CornerRefineMethod>("refine");
+        int user_method = parser.get<aruco::CornerRefineMethod>("refine");
+        if (user_method < 0 || user_method >= 4)
+        {
+            std::cout << "Corner refinement method should be in range 0..3" << std::endl;
+            return 0;
+        }
+        detectorParams.cornerRefinementMethod = user_method;
     }
-    std::cout << "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag 2): " << (int)detectorParams.cornerRefinementMethod << std::endl;
+
+    std::cout << "Corner refinement method: " << refineMethods[detectorParams.cornerRefinementMethod] << std::endl;
 
     int camId = parser.get<int>("ci");
 
@@ -69,33 +73,11 @@ int main(int argc, char *argv[]) {
         return 0;
     }
 
-    aruco::Dictionary dictionary = aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
-    if (parser.has("d")) {
-        int dictionaryId = parser.get<int>("d");
-        dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
-    }
-    else if (parser.has("cd")) {
-        cv::FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
-        bool readOk = dictionary.readDictionary(fs.root());
-        if(!readOk) {
-            std::cerr << "Invalid dictionary file" << std::endl;
-            return 0;
-        }
-    }
-    else {
-        std::cerr << "Dictionary not specified" << std::endl;
-        return 0;
-    }
-
     //! [aruco_pose_estimation1]
-    cv::Mat camMatrix, distCoeffs;
+    Mat camMatrix, distCoeffs;
     if(estimatePose) {
         // You can read camera parameters from tutorial_camera_params.yml
-        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
-        if(!readOk) {
-            cerr << "Invalid camera file" << endl;
-            return 0;
-        }
+        readCameraParamsFromCommandLine(parser, camMatrix, distCoeffs);
     }
     //! [aruco_pose_estimation1]
     //! [aruco_detect_markers]
diff --git a/samples/cpp/tutorial_code/objectDetection/detector_params.yml b/samples/cpp/tutorial_code/objectDetection/detector_params.yml
new file mode 100644
index 0000000000..1155c25126
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/detector_params.yml
@@ -0,0 +1,30 @@
+%YAML:1.0
+adaptiveThreshWinSizeMin: 3
+adaptiveThreshWinSizeMax: 23
+adaptiveThreshWinSizeStep: 10
+adaptiveThreshWinSize: 21
+adaptiveThreshConstant: 7
+minMarkerPerimeterRate: 0.03
+maxMarkerPerimeterRate: 4.0
+polygonalApproxAccuracyRate: 0.05
+minCornerDistanceRate: 0.05
+minDistanceToBorder: 3
+minMarkerDistance: 10.0
+minMarkerDistanceRate: 0.05
+cornerRefinementMethod: 0
+cornerRefinementWinSize: 5
+cornerRefinementMaxIterations: 30
+cornerRefinementMinAccuracy: 0.1
+markerBorderBits: 1
+perspectiveRemovePixelPerCell: 8
+perspectiveRemoveIgnoredMarginPerCell: 0.13
+maxErroneousBitsInBorderRate: 0.04
+minOtsuStdDev: 5.0
+errorCorrectionRate: 0.6
+
+# new aruco 3 functionality
+useAruco3Detection: 0
+minSideLengthCanonicalImg: 32 # 16, 32, 64 --> tau_c from the paper
+minMarkerLengthRatioOriginalImg: 0.02 # range [0,0.2] --> tau_i from the paper
+cameraMotionSpeed: 0.1 # range [0,1) --> tau_s from the paper
+useGlobalThreshold: 0
diff --git a/samples/cpp/tutorial_code/objectDetection/tutorial_camera_charuco.yml b/samples/cpp/tutorial_code/objectDetection/tutorial_camera_charuco.yml
new file mode 100644
index 0000000000..f1ded5993a
--- /dev/null
+++ b/samples/cpp/tutorial_code/objectDetection/tutorial_camera_charuco.yml
@@ -0,0 +1,21 @@
+%YAML:1.0
+---
+calibration_time: "Wed 08 Dec 2021 05:13:09 PM MSK"
+image_width: 640
+image_height: 480
+flags: 0
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.5251072219637672e+02, 0., 3.1770297317353277e+02, 0.,
+       4.5676707935146891e+02, 2.7775155919135995e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 1.2136925618707872e-01, -1.0854664722560681e+00,
+       1.1786843796668460e-04, -4.6240686046485508e-04,
+       2.9542589406810080e+00 ]
+avg_reprojection_error: 1.8234905535936044e-01
+info: "The camera calibration parameters were obtained by img_00.jpg-img_03.jpg from aruco/tutorials/aruco_calibration/images"