diff --git a/modules/aruco/src/aruco.cpp b/modules/aruco/src/aruco.cpp
index d7eabd776..87c953215 100644
--- a/modules/aruco/src/aruco.cpp
+++ b/modules/aruco/src/aruco.cpp
@@ -894,7 +894,10 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 		cntPts[group].push_back(contour2f[i]);
 	}
     for (int i = 0; i < 4; i++)
+    {
         CV_Assert(cornerIndex[i] != -1);
+    }
+
 	// saves extra group into corresponding
 	if( !cntPts[4].empty() ){
 		for( unsigned int i=0; i < cntPts[4].size() ; i++ )
@@ -1240,7 +1243,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
 
         for (int i = begin; i < end; i++) {
             solvePnP(markerObjPoints, _corners.getMat(i), _cameraMatrix, _distCoeffs, rvecs.at<Vec3d>(i),
-                     tvecs.at<Vec3d>(i));
+                     tvecs.at<Vec3d>(i), estimateParameters->solvePnPMethod);
         }
     });