diff --git a/.github/workflows/OCV-Contrib-PR-5.x-ARM64.yaml b/.github/workflows/OCV-Contrib-PR-5.x-ARM64.yaml
index cb9749e..618342a 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-ARM64.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-ARM64.yaml
@@ -139,10 +139,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_test_3d --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_test_aruco --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -323,10 +319,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_perf_3d --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=${{ env.PARALLEL_JOBS }}
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_perf_aruco --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=${{ env.PARALLEL_JOBS }}
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
diff --git a/.github/workflows/OCV-Contrib-PR-5.x-U20.yaml b/.github/workflows/OCV-Contrib-PR-5.x-U20.yaml
index 64cbbae..15ce4fd 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-U20.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-U20.yaml
@@ -138,10 +138,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_test_3d --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_test_aruco --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -330,10 +326,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_perf_3d --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --perf_threads=${{ env.PARALLEL_JOBS }}
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_perf_aruco --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --perf_threads=${{ env.PARALLEL_JOBS }}
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
diff --git a/.github/workflows/OCV-Contrib-PR-5.x-U22.yaml b/.github/workflows/OCV-Contrib-PR-5.x-U22.yaml
index 8075dc3..f95fdb9 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-U22.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-U22.yaml
@@ -141,10 +141,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_test_3d --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_test_aruco --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -333,10 +329,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd $HOME/build && xvfb-run -a bin/opencv_perf_3d --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --perf_threads=${{ env.PARALLEL_JOBS }}
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd $HOME/build && xvfb-run -a bin/opencv_perf_aruco --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --perf_threads=${{ env.PARALLEL_JOBS }}
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
diff --git a/.github/workflows/OCV-Contrib-PR-5.x-W10.yaml b/.github/workflows/OCV-Contrib-PR-5.x-W10.yaml
index 39e2cc9..5703ea8 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-W10.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-W10.yaml
@@ -131,10 +131,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd ${{ github.workspace }}\build && bin\opencv_test_3d.exe --skip_unstable --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=%PARALLEL_JOBS%
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd ${{ github.workspace }}\build && bin\opencv_test_aruco.exe --skip_unstable --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=%PARALLEL_JOBS%
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -317,10 +313,6 @@ jobs:
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: cd ${{ github.workspace }}\build && bin\opencv_perf_3d.exe --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --skip_unstable --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=%PARALLEL_JOBS%
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: cd ${{ github.workspace }}\build && bin\opencv_perf_aruco.exe --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --skip_unstable --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=%PARALLEL_JOBS%
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
diff --git a/.github/workflows/OCV-Contrib-PR-5.x-macOS-ARM64.yaml b/.github/workflows/OCV-Contrib-PR-5.x-macOS-ARM64.yaml
index 9b3d543..56507b6 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-macOS-ARM64.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-macOS-ARM64.yaml
@@ -130,11 +130,6 @@ jobs:
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: ./bin/opencv_test_3d --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
       working-directory: ${{ github.workspace }}/build
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: ./bin/opencv_test_aruco --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
-      working-directory: ${{ github.workspace }}/build
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -370,11 +365,6 @@ jobs:
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: ./bin/opencv_perf_3d --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=$PARALLEL_JOBS
       working-directory: ${{ github.workspace }}/build
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: ./bin/opencv_perf_aruco --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=$PARALLEL_JOBS
-      working-directory: ${{ github.workspace }}/build
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
diff --git a/.github/workflows/OCV-Contrib-PR-5.x-macOS-x86_64.yaml b/.github/workflows/OCV-Contrib-PR-5.x-macOS-x86_64.yaml
index 708f27b..aced1e7 100644
--- a/.github/workflows/OCV-Contrib-PR-5.x-macOS-x86_64.yaml
+++ b/.github/workflows/OCV-Contrib-PR-5.x-macOS-x86_64.yaml
@@ -130,11 +130,6 @@ jobs:
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: ./bin/opencv_test_3d --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
       working-directory: ${{ github.workspace }}/build
-    - name: Accuracy:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: ./bin/opencv_test_aruco --gtest_filter=${{ env.GTEST_FILTER_STRING }} --test_threads=${{ env.PARALLEL_JOBS }} ${{ env.EXTRA_GTEST_OPTIONS }}
-      working-directory: ${{ github.workspace }}/build
     - name: Accuracy:bgsegm
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
@@ -372,11 +367,6 @@ jobs:
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
       run: ./bin/opencv_perf_3d --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=$PARALLEL_JOBS
       working-directory: ${{ github.workspace }}/build
-    - name: Performance:aruco
-      timeout-minutes: 60
-      if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}
-      run: ./bin/opencv_perf_aruco --perf_impl=plain --perf_min_samples=1 --perf_force_samples=1 --perf_verify_sanity --skip_unstable=1 --gtest_filter=${{ env.GTEST_FILTER_STRING }} --perf_threads=$PARALLEL_JOBS
-      working-directory: ${{ github.workspace }}/build
     - name: Performance:bioinspired
       timeout-minutes: 60
       if: ${{ always() && steps.build-opencv-contrib.outcome == 'success' }}