diff --git a/testdata/cv/aruco/chocclusion_original.jpg b/testdata/cv/aruco/chocclusion_original.jpg
new file mode 100644
index 000000000..037a8eb12
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diff --git a/testdata/cv/aruco/choriginal.jpg b/testdata/cv/aruco/choriginal.jpg
new file mode 100644
index 000000000..3ca7c3149
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diff --git a/testdata/cv/aruco/detector_params.yml b/testdata/cv/aruco/detector_params.yml
new file mode 100644
index 000000000..1155c2512
--- /dev/null
+++ b/testdata/cv/aruco/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/testdata/cv/aruco/diamondmarkers.jpg b/testdata/cv/aruco/diamondmarkers.jpg
new file mode 100644
index 000000000..7d270ad64
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diff --git a/testdata/cv/aruco/gboriginal.jpg b/testdata/cv/aruco/gboriginal.jpg
new file mode 100644
index 000000000..8343139ae
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diff --git a/testdata/cv/aruco/singlemarkersoriginal.jpg b/testdata/cv/aruco/singlemarkersoriginal.jpg
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index 000000000..a0c9c43be
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diff --git a/testdata/cv/aruco/tutorial_dict.yml b/testdata/cv/aruco/tutorial_dict.yml
new file mode 100644
index 000000000..af5c87e4e
--- /dev/null
+++ b/testdata/cv/aruco/tutorial_dict.yml
@@ -0,0 +1,38 @@
+%YAML:1.0
+nmarkers: 35
+markersize: 6
+marker_0: "101011111011111001001001101100000000"
+marker_1: "000000000010011001010011111010111000"
+marker_2: "011001100000001010000101111101001101"
+marker_3: "001000111111000111011001110000011111"
+marker_4: "100110110100101111000000111101110011"
+marker_5: "010101101110111000111010111100010111"
+marker_6: "101001000110011110101001010100110100"
+marker_7: "011010100100110000011101110110100010"
+marker_8: "111110001000101000110001010010111101"
+marker_9: "011101101100110111001100100001010100"
+marker_10: "100001100001010001110001011000000111"
+marker_11: "110010010010011100101111111000001111"
+marker_12: "110101001001010110011111010110001101"
+marker_13: "001111000001000100010001101001010001"
+marker_14: "000000010010101010111110110011010011"
+marker_15: "110001110111100101110011111100111010"
+marker_16: "101011001110001010110011111011001110"
+marker_17: "101110111101110100101101011001010111"
+marker_18: "000100111000111101010011010101000101"
+marker_19: "001110001110001101100101110100000011"
+marker_20: "100101101100010110110110110001100011"
+marker_21: "010110001001011010000100111000110110"
+marker_22: "001000000000100100000000010100010010"
+marker_23: "101001110010100110000111111010010000"
+marker_24: "111001101010001100011010010001011100"
+marker_25: "101000010001010000110100111101101001"
+marker_26: "101010000001010011001010110110000001"
+marker_27: "100101001000010101001000111101111110"
+marker_28: "010010100110010011110001110101011100"
+marker_29: "011001000101100001101111010001001111"
+marker_30: "000111011100011110001101111011011001"
+marker_31: "010100001011000100111101110001101010"
+marker_32: "100101101001101010111111101101110100"
+marker_33: "101101001010111000000100110111010101"
+marker_34: "011111010000111011111110110101100101"