diff --git a/modules/js/generator/embindgen.py b/modules/js/generator/embindgen.py
index f9b8431402..dee778a9de 100644
--- a/modules/js/generator/embindgen.py
+++ b/modules/js/generator/embindgen.py
@@ -812,6 +812,7 @@ class JSWrapperGenerator(object):
         for name, class_info in sorted(self.classes.items()):
             class_bindings = []
             if not name in white_list:
+                #print('Not in whitelist: "{}" from ns={}'.format(name, ns_name))
                 continue
 
             # Generate bindings for methods
diff --git a/modules/js/src/core_bindings.cpp b/modules/js/src/core_bindings.cpp
index 1f86711c16..ee980aacb2 100644
--- a/modules/js/src/core_bindings.cpp
+++ b/modules/js/src/core_bindings.cpp
@@ -89,14 +89,12 @@ using namespace cv;
 
 using namespace cv::segmentation;  // FIXIT
 
+using namespace cv::aruco;
+
 #ifdef HAVE_OPENCV_DNN
 using namespace cv::dnn;
 #endif
 
-#ifdef HAVE_OPENCV_ARUCO
-using namespace aruco;
-#endif
-
 #ifdef HAVE_OPENCV_VIDEO
 typedef TrackerMIL::Params TrackerMIL_Params;
 #endif
diff --git a/modules/js/test/test_objdetect.js b/modules/js/test/test_objdetect.js
index dc863d682f..7c481eb10a 100644
--- a/modules/js/test/test_objdetect.js
+++ b/modules/js/test/test_objdetect.js
@@ -199,4 +199,60 @@ QUnit.test('QR code detect and decode', function (assert) {
         mat.delete();
 
     }
-});
\ No newline at end of file
+});
+QUnit.test('Aruco detector', function (assert) {
+    {
+        let dictionary = cv.getPredefinedDictionary(cv.DICT_4X4_50);
+        let aruco_image = new cv.Mat();
+        let detectorParameters = new cv.aruco_DetectorParameters();
+        let refineParameters = new cv.aruco_RefineParameters(10, 3, true);
+        let detector = new cv.aruco_ArucoDetector(dictionary, detectorParameters,refineParameters);
+        let corners = new cv.MatVector();
+        let ids = new cv.Mat();
+
+        dictionary.generateImageMarker(10, 128, aruco_image);
+        assert.ok(!aruco_image.empty());
+
+        detector.detectMarkers(aruco_image, corners, ids);
+
+        dictionary.delete();
+        aruco_image.delete();
+        detectorParameters.delete();
+        refineParameters.delete();
+        detector.delete();
+        corners.delete();
+        ids.delete();
+    }
+});
+QUnit.test('Charuco detector', function (assert) {
+    {
+        let dictionary = new cv.getPredefinedDictionary(cv.DICT_4X4_50);
+        let boardIds = new cv.Mat();
+        let board = new cv.aruco_CharucoBoard(new cv.Size(3, 5), 64, 32, dictionary, boardIds);
+        let charucoParameters = new cv.aruco_CharucoParameters();
+        let detectorParameters = new cv.aruco_DetectorParameters();
+        let refineParameters = new cv.aruco_RefineParameters(10, 3, true);
+        let detector = new cv.aruco_CharucoDetector(board, charucoParameters, detectorParameters, refineParameters);
+        let board_image = new cv.Mat();
+        let corners = new cv.Mat();
+        let ids = new cv.Mat();
+
+        board.generateImage(new cv.Size(300, 500), board_image);
+        assert.ok(!board_image.empty());
+
+        detector.detectBoard(board_image, corners, ids);
+        assert.ok(!corners.empty());
+        assert.ok(!ids.empty());
+
+        dictionary.delete();
+        boardIds.delete();
+        board.delete();
+        board_image.delete();
+        charucoParameters.delete();
+        detectorParameters.delete();
+        refineParameters.delete();
+        detector.delete();
+        corners.delete();
+        ids.delete();
+    }
+});
diff --git a/platforms/js/opencv_js.config.py b/platforms/js/opencv_js.config.py
index fe91e3334e..65a1c95d52 100644
--- a/platforms/js/opencv_js.config.py
+++ b/platforms/js/opencv_js.config.py
@@ -108,13 +108,23 @@ imgproc = {
     ],
 }
 
-objdetect = {'': ['groupRectangles'],
+objdetect = {'': ['groupRectangles', 'getPredefinedDictionary', 'extendDictionary',
+                  'drawDetectedMarkers', 'generateImageMarker', 'drawDetectedCornersCharuco',
+                  'drawDetectedDiamonds'],
              'HOGDescriptor': ['load', 'HOGDescriptor', 'getDefaultPeopleDetector', 'getDaimlerPeopleDetector', 'setSVMDetector', 'detectMultiScale'],
              'CascadeClassifier': ['load', 'detectMultiScale2', 'CascadeClassifier', 'detectMultiScale3', 'empty', 'detectMultiScale'],
              'QRCodeDetector': ['QRCodeDetector', 'decode', 'decodeCurved', 'detect', 'detectAndDecode', 'detectMulti', 'setEpsX', 'setEpsY'],
-             'ArucoDetector': ['getPredefinedDictionary', 'detectMarkers', 'refineDetectedMarkers', 'getDictionary', 'setDictionary', 'getDetectorParameters', 'setDetectorParameters', 'getRefineParameters', 'setRefineParameters'],
-             'GridBoard': ['create','generateImage', 'getGridSize', 'getMarkerLength', 'getMarkerSeparation'],
-             'CharucoBoard': ['create', 'generateImage', 'getChessboardCorners', 'getNearestMarkerCorners', 'checkCharucoCornersCollinear']
+             # aruco namespace
+             'aruco_PredefinedDictionaryType': [],
+             'aruco_Dictionary': ['Dictionary', 'getDistanceToId', 'generateImageMarker', 'getByteListFromBits', 'getBitsFromByteList'],
+             'aruco_Board': ['Board', 'matchImagePoints', 'generateImage'],
+             'aruco_GridBoard': ['GridBoard', 'generateImage', 'getGridSize', 'getMarkerLength', 'getMarkerSeparation', 'matchImagePoints'],
+             'aruco_CharucoParameters': ['CharucoParameters'],
+             'aruco_CharucoBoard': ['CharucoBoard', 'generateImage', 'getChessboardCorners', 'getNearestMarkerCorners', 'checkCharucoCornersCollinear', 'matchImagePoints', 'getLegacyPattern', 'setLegacyPattern'],
+             'aruco_DetectorParameters': ['DetectorParameters'],
+             'aruco_RefineParameters': ['RefineParameters'],
+             'aruco_ArucoDetector': ['ArucoDetector', 'detectMarkers', 'refineDetectedMarkers', 'setDictionary', 'setDetectorParameters', 'setRefineParameters'],
+             'aruco_CharucoDetector': ['CharucoDetector', 'setBoard', 'setCharucoParameters', 'setDetectorParameters', 'setRefineParameters', 'detectBoard', 'detectDiamonds']
 }
 
 video = {