diff --git a/modules/aruco/samples/calibrate_camera.cpp b/modules/aruco/samples/calibrate_camera.cpp
index 45b4dc376..c4b6a8443 100644
--- a/modules/aruco/samples/calibrate_camera.cpp
+++ b/modules/aruco/samples/calibrate_camera.cpp
@@ -49,59 +49,31 @@ using namespace std;
 using namespace cv;
 
 
-/**
- */
-static void help() {
-    cout << "Calibration using a ArUco Planar Grid board" << endl;
-    cout << "How to Use:" << endl;
-    cout << "To capture a frame for calibration, press 'c'," << endl;
-    cout << "If input comes from video, press any key for next frame" << endl;
-    cout << "To finish capturing, press 'ESC' key and calibration starts." << endl;
-    cout << "Parameters: " << endl;
-    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
-    cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
-    cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
-    cout << "-s <markerSeparation> # Separation between two consecutive"
-         << "markers in the grid (in meters)" << endl;
-    cout << "-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" << endl;
-    cout << "-o <outputFile> # Output file with calibrated camera parameters" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-rs] # Apply refind strategy" << endl;
-    cout << "[-zt] # Assume zero tangential distortion" << endl;
-    cout << "[-a <aspectRatio>] # Fix aspect ratio (fx/fy)" << endl;
-    cout << "[-p] # Fix the principal point at the center" << endl;
+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 lenght (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}"
+        "{@outfile |<none> | 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 }";
 }
 
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
-}
-
-
-
-
 /**
  */
 static bool readDetectorParameters(string filename, aruco::DetectorParameters &params) {
@@ -177,55 +149,65 @@ static bool saveCameraParams(const string &filename, Size imageSize, float aspec
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
-       !isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
-        help();
+    if(argc < 6) {
+        parser.printMessage();
         return 0;
     }
 
-    int markersX = atoi(getParam("-w", argc, argv).c_str());
-    int markersY = atoi(getParam("-h", argc, argv).c_str());
-    float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
-    float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-    string outputFile = getParam("-o", argc, argv);
+    int markersX = parser.get<int>("w");
+    int markersY = parser.get<int>("w");
+    float markerLength = parser.get<float>("l");
+    float markerSeparation = parser.get<float>("s");
+    int dictionaryId = parser.get<int>("d");
+    string outputFile = parser.get<String>(0);
 
     int calibrationFlags = 0;
     float aspectRatio = 1;
-    if(isParam("-a", argc, argv)) {
+    if(parser.has("a")) {
         calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
-        aspectRatio = (float)atof(getParam("-a", argc, argv).c_str());
+        aspectRatio = parser.get<float>("a");
     }
-    if(isParam("-zt", argc, argv)) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
-    if(isParam("-p", argc, argv)) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
+    if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
+    if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
 
     aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
             cerr << "Invalid detector parameters file" << endl;
             return 0;
         }
     }
 
-    bool refindStrategy = false;
-    if(isParam("-rs", argc, argv)) refindStrategy = true;
+    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(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }
 
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+
     // create board object
     aruco::GridBoard board =
         aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
diff --git a/modules/aruco/samples/calibrate_camera_charuco.cpp b/modules/aruco/samples/calibrate_camera_charuco.cpp
index ba54cbcc1..fb763f571 100644
--- a/modules/aruco/samples/calibrate_camera_charuco.cpp
+++ b/modules/aruco/samples/calibrate_camera_charuco.cpp
@@ -48,60 +48,32 @@ the use of this software, even if advised of the possibility of such damage.
 using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Calibration using a ChArUco board" << endl;
-    cout << "How to Use:" << endl;
-    cout << "To capture a frame for calibration, press 'c'," << endl;
-    cout << "If input comes from video, press any key for next frame" << endl;
-    cout << "To finish capturing, press 'ESC' key and calibration starts." << endl;
-    cout << "Parameters: " << endl;
-    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
-    cout << "-h <nsquares> # Number of squares in Y direction" << endl;
-    cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
-    cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
-    cout << "-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" << endl;
-    cout << "-o <outputFile> # Output file with calibrated camera parameters" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-rs] # Apply refind strategy" << endl;
-    cout << "[-zt] # Assume zero tangential distortion" << endl;
-    cout << "[-a <aspectRatio>] # Fix aspect ratio (fx/fy)" << endl;
-    cout << "[-p] # Fix the principal point at the center" << endl;
-    cout << "[-sc] # Show detected chessboard corners after calibration" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
+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 lenght (in pixels) }"
+        "{ml       |       | Marker side lenght (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}"
+        "{@outfile |<none> | 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 }";
 }
 
-
-
-
 /**
  */
 static bool readDetectorParameters(string filename, aruco::DetectorParameters &params) {
@@ -177,57 +149,67 @@ static bool saveCameraParams(const string &filename, Size imageSize, float aspec
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
-       !isParam("-ml", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
-        help();
+    if(argc < 7) {
+        parser.printMessage();
         return 0;
     }
 
-    int squaresX = atoi(getParam("-w", argc, argv).c_str());
-    int squaresY = atoi(getParam("-h", argc, argv).c_str());
-    float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
-    float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-    string outputFile = getParam("-o", argc, argv);
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    int dictionaryId = parser.get<int>("d");
+    string outputFile = parser.get<string>(0);
 
-    bool showChessboardCorners = isParam("-sc", argc, argv);
+    bool showChessboardCorners = parser.get<bool>("sc");
 
     int calibrationFlags = 0;
     float aspectRatio = 1;
-    if(isParam("-a", argc, argv)) {
+    if(parser.has("a")) {
         calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
-        aspectRatio = (float)atof(getParam("-a", argc, argv).c_str());
+        aspectRatio = parser.get<float>("a");
     }
-    if(isParam("-zt", argc, argv)) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
-    if(isParam("-p", argc, argv)) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
+    if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
+    if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
 
     aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
             cerr << "Invalid detector parameters file" << endl;
             return 0;
         }
     }
 
-    bool refindStrategy = false;
-    if(isParam("-rs", argc, argv)) refindStrategy = true;
+    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(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }
 
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+
     // create charuco board object
     aruco::CharucoBoard board =
         aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
diff --git a/modules/aruco/samples/create_board.cpp b/modules/aruco/samples/create_board.cpp
index f65ceb5ac..7aeb2ccca 100644
--- a/modules/aruco/samples/create_board.cpp
+++ b/modules/aruco/samples/create_board.cpp
@@ -39,92 +39,63 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/aruco.hpp>
-#include <iostream>
 
-using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Create an ArUco grid board image" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-o <image> # Output image" << endl;
-    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
-    cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
-    cout << "-l <markerLength> # Marker side lenght (in pixels)" << endl;
-    cout << "-s <markerSeparation> # Separation between two consecutive"
-         << "markers in the grid (in pixels)" << endl;
-    cout << "-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" << endl;
-    cout << "[-m <marginSize>] # Margins size (in pixels)"
-         << "Default is marker separation" << endl;
-    cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
-    cout << "[-si] # show generated image" << endl;
+namespace {
+const char* about = "Create an ArUco grid board image";
+const char* keys  =
+        "{@outfile |<none> | Output image }"
+        "{w        |       | Number of markers in X direction }"
+        "{h        |       | Number of markers in Y direction }"
+        "{l        |       | Marker side lenght (in pixels) }"
+        "{s        |       | Separation between two consecutive markers in the grid (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}"
+        "{m        |       | Margins size (in pixels). Default is marker separation (-s) }"
+        "{bb       | 1     | Number of bits in marker borders }"
+        "{si       | false | show generated image }";
 }
 
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
-}
-
-
-/**
- */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
-       !isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
-        help();
+    if(argc < 7) {
+        parser.printMessage();
         return 0;
     }
 
-    int markersX = atoi(getParam("-w", argc, argv).c_str());
-    int markersY = atoi(getParam("-h", argc, argv).c_str());
-    int markerLength = atoi(getParam("-l", argc, argv).c_str());
-    int markerSeparation = atoi(getParam("-s", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
+    int markersX = parser.get<int>("w");
+    int markersY = parser.get<int>("h");
+    int markerLength = parser.get<int>("l");
+    int markerSeparation = parser.get<int>("s");
+    int dictionaryId = parser.get<int>("d");
     int margins = markerSeparation;
-    if(isParam("-m", argc, argv)) {
-        margins = atoi(getParam("-m", argc, argv).c_str());
+    if(parser.has("m")) {
+        margins = parser.get<int>("m");
     }
 
-    int borderBits = 1;
-    if(isParam("-bb", argc, argv)) {
-        borderBits = atoi(getParam("-bb", argc, argv).c_str());
-    }
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
 
-    bool showImage = false;
-    if(isParam("-si", argc, argv)) showImage = true;
+    String out = parser.get<String>(0);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
 
     Size imageSize;
     imageSize.width = markersX * (markerLength + markerSeparation) - markerSeparation + 2 * margins;
     imageSize.height =
         markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins;
 
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+
     aruco::GridBoard board = aruco::GridBoard::create(markersX, markersY, float(markerLength),
                                                       float(markerSeparation), dictionary);
 
@@ -137,7 +108,7 @@ int main(int argc, char *argv[]) {
         waitKey(0);
     }
 
-    imwrite(getParam("-o", argc, argv), boardImage);
+    imwrite(out, boardImage);
 
     return 0;
 }
diff --git a/modules/aruco/samples/create_board_charuco.cpp b/modules/aruco/samples/create_board_charuco.cpp
index 3b33df834..75f8f3ab7 100644
--- a/modules/aruco/samples/create_board_charuco.cpp
+++ b/modules/aruco/samples/create_board_charuco.cpp
@@ -39,85 +39,57 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/aruco/charuco.hpp>
-#include <iostream>
 
-using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Create a ChArUco board image" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-o <image> # Output image" << endl;
-    cout << "-w <nsquares> # Number of squares in X direction" << endl;
-    cout << "-h <nsquares> # Number of squares in Y direction" << endl;
-    cout << "-sl <squareLength> # Square side lenght (in pixels)" << endl;
-    cout << "-ml <markerLength> # Marker side lenght (in pixels)" << endl;
-    cout << "-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" << endl;
-    cout << "[-m <marginSize>] # Margins size (in pixels)"
-         << "Default is (squareLength-markerLength)" << endl;
-    cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
-    cout << "[-si] # show generated image" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
+namespace {
+const char* about = "Create a ChArUco board image";
+const char* keys  =
+        "{@outfile |<none> | Output image }"
+        "{w        |       | Number of squares in X direction }"
+        "{h        |       | Number of squares in Y direction }"
+        "{sl       |       | Square side lenght (in pixels) }"
+        "{ml       |       | Marker side lenght (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}"
+        "{m        |       | Margins size (in pixels). Default is (squareLength-markerLength) }"
+        "{bb       | 1     | Number of bits in marker borders }"
+        "{si       | false | show generated image }";
 }
 
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
-}
-
-
-/**
- */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
-       !isParam("-ml", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
-        help();
+    if(argc < 7) {
+        parser.printMessage();
         return 0;
     }
 
-    int squaresX = atoi(getParam("-w", argc, argv).c_str());
-    int squaresY = atoi(getParam("-h", argc, argv).c_str());
-    int squareLength = atoi(getParam("-sl", argc, argv).c_str());
-    int markerLength = atoi(getParam("-ml", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
+    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 dictionaryId = parser.get<int>("d");
     int margins = squareLength - markerLength;
-    if(isParam("-m", argc, argv)) {
-        margins = atoi(getParam("-m", argc, argv).c_str());
+    if(parser.has("m")) {
+        margins = parser.get<int>("m");
     }
 
-    int borderBits = 1;
-    if(isParam("-bb", argc, argv)) {
-        borderBits = atoi(getParam("-bb", argc, argv).c_str());
+    int borderBits = parser.get<int>("bb");
+    bool showImage = parser.get<bool>("si");
+
+    String out = parser.get<String>(0);
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
     }
 
-    bool showImage = false;
-    if(isParam("-si", argc, argv)) showImage = true;
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
 
     Size imageSize;
     imageSize.width = squaresX * squareLength + 2 * margins;
@@ -135,7 +107,7 @@ int main(int argc, char *argv[]) {
         waitKey(0);
     }
 
-    imwrite(getParam("-o", argc, argv), boardImage);
+    imwrite(out, boardImage);
 
     return 0;
 }
diff --git a/modules/aruco/samples/create_diamond.cpp b/modules/aruco/samples/create_diamond.cpp
index 315c2d704..5cb7f0bda 100644
--- a/modules/aruco/samples/create_diamond.cpp
+++ b/modules/aruco/samples/create_diamond.cpp
@@ -45,65 +45,50 @@ the use of this software, even if advised of the possibility of such damage.
 using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Create a ChArUco marker image" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-o <image> # Output image" << endl;
-    cout << "-sl <squareLength> # Square side lenght (in pixels)" << endl;
-    cout << "-ml <markerLength> # Marker side lenght (in pixels)" << endl;
-    cout << "-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" << endl;
-    cout << "-ids <id1,id2,id3,id4> # Four ids for the ChArUco marker" << endl;
-    cout << "[-m <marginSize>] # Margins size (in pixels). Default is 0" << endl;
-    cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
-    cout << "[-si] # show generated image" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
+namespace {
+const char* about = "Create a ChArUco marker image";
+const char* keys  =
+        "{@outfile |<none> | Output image }"
+        "{sl       |       | Square side lenght (in pixels) }"
+        "{ml       |       | Marker side lenght (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}"
+        "{ids      |<none> | 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);
+
+    if(argc < 4) {
+        parser.printMessage();
+        return 0;
+    }
 
-    if(!isParam("-sl", argc, argv) || !isParam("-ml", argc, argv) || !isParam("-d", argc, argv) ||
-       !isParam("-ids", argc, argv)) {
-        help();
+    int squareLength = parser.get<int>("sl");
+    int markerLength = parser.get<int>("ml");
+    int dictionaryId = parser.get<int>("d");
+    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);
+
+    if(!parser.check()) {
+        parser.printErrors();
         return 0;
     }
 
-    int squareLength = atoi(getParam("-sl", argc, argv).c_str());
-    int markerLength = atoi(getParam("-ml", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
     aruco::Dictionary dictionary =
         aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
 
-    string idsString = getParam("-ids", argc, argv);
     istringstream ss(idsString);
     vector< string > splittedIds;
     string token;
@@ -111,26 +96,13 @@ int main(int argc, char *argv[]) {
         splittedIds.push_back(token);
     if(splittedIds.size() < 4) {
         cerr << "Incorrect ids format" << endl;
-        help();
+        parser.printMessage();
         return 0;
     }
     Vec4i ids;
     for(int i = 0; i < 4; i++)
         ids[i] = atoi(splittedIds[i].c_str());
 
-    int margins = 0;
-    if(isParam("-m", argc, argv)) {
-        margins = atoi(getParam("-m", argc, argv).c_str());
-    }
-
-    int borderBits = 1;
-    if(isParam("-bb", argc, argv)) {
-        borderBits = atoi(getParam("-bb", argc, argv).c_str());
-    }
-
-    bool showImage = false;
-    if(isParam("-si", argc, argv)) showImage = true;
-
     Mat markerImg;
     aruco::drawCharucoDiamond(dictionary, ids, squareLength, markerLength, markerImg, margins,
                               borderBits);
@@ -140,7 +112,7 @@ int main(int argc, char *argv[]) {
         waitKey(0);
     }
 
-    imwrite(getParam("-o", argc, argv), markerImg);
+    imwrite(out, markerImg);
 
     return 0;
 }
diff --git a/modules/aruco/samples/create_marker.cpp b/modules/aruco/samples/create_marker.cpp
index e83df3e1b..922b23835 100644
--- a/modules/aruco/samples/create_marker.cpp
+++ b/modules/aruco/samples/create_marker.cpp
@@ -39,78 +39,48 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/aruco.hpp>
-#include <iostream>
 
-using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Create an ArUco marker image" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-o <image> # Output image" << endl;
-    cout << "-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" << endl;
-    cout << "-id <int> # Marker id in the dictionary" << endl;
-    cout << "[-ms <int>] # Marker size in pixels. Default is 200" << endl;
-    cout << "[-bb <int>] # Number of bits in marker borders. Default is 1" << endl;
-    cout << "[-si] # show generated image" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
+namespace {
+const char* about = "Create an ArUco marker image";
+const char* keys  =
+        "{@outfile |<none> | Output image }"
+        "{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}"
+        "{id       |       | Marker id in the dictionary }"
+        "{ms       | 200   | Marker 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);
 
-    if(!isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
-        help();
+    if(argc < 4) {
+        parser.printMessage();
         return 0;
     }
 
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+    int dictionaryId = parser.get<int>("d");
+    int markerId = parser.get<int>("id");
+    int borderBits = parser.get<int>("bb");
+    int markerSize = parser.get<int>("ms");
+    bool showImage = parser.get<bool>("si");
 
-    int markerId = atoi(getParam("-id", argc, argv).c_str());
-
-    int borderBits = 1;
-    if(isParam("-bb", argc, argv)) {
-        borderBits = atoi(getParam("-bb", argc, argv).c_str());
-    }
+    String out = parser.get<String>(0);
 
-    int markerSize = 200;
-    if(isParam("-ms", argc, argv)) {
-        markerSize = atoi(getParam("-ms", argc, argv).c_str());
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
     }
 
-    bool showImage = false;
-    if(isParam("-si", argc, argv)) showImage = true;
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
 
     Mat markerImg;
     aruco::drawMarker(dictionary, markerId, markerSize, markerImg, borderBits);
@@ -120,7 +90,7 @@ int main(int argc, char *argv[]) {
         waitKey(0);
     }
 
-    imwrite(getParam("-o", argc, argv), markerImg);
+    imwrite(out, markerImg);
 
     return 0;
 }
diff --git a/modules/aruco/samples/detect_board.cpp b/modules/aruco/samples/detect_board.cpp
index 73c9da436..534bd3c8c 100644
--- a/modules/aruco/samples/detect_board.cpp
+++ b/modules/aruco/samples/detect_board.cpp
@@ -45,52 +45,25 @@ the use of this software, even if advised of the possibility of such damage.
 using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Pose estimation using a ArUco Planar Grid board" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
-    cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
-    cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
-    cout << "-s <markerSeparation> # Separation between two consecutive"
-         << "markers in the grid (in meters)" << endl;
-    cout << "-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" << endl;
-    cout << "-c <cameraParams> # Camera intrinsic parameters file" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-rs] # Apply refind strategy" << endl;
-    cout << "[-r] # show rejected candidates too" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
+namespace {
+const char* about = "Pose estimation using a ArUco Planar Grid board";
+const char* keys  =
+        "{w        |       | Number of squares in X direction }"
+        "{h        |       | Number of squares in Y direction }"
+        "{l        |       | Marker side lenght (in pixels) }"
+        "{s        |       | Separation between two consecutive markers in the grid (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}"
+        "{c        |       | 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       |       | Apply refind strategy }"
+        "{r        |       | show rejected candidates too }";
 }
 
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
-}
-
-
 /**
  */
 static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@@ -137,27 +110,27 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
-       !isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-c", argc, argv)) {
-        help();
+    if(argc < 7) {
+        parser.printMessage();
         return 0;
     }
 
-    int markersX = atoi(getParam("-w", argc, argv).c_str());
-    int markersY = atoi(getParam("-h", argc, argv).c_str());
-    float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
-    float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+    int markersX = parser.get<int>("w");
+    int markersY = parser.get<int>("h");
+    float markerLength = parser.get<float>("l");
+    float markerSeparation = parser.get<float>("s");
+    int dictionaryId = parser.get<int>("d");
+    bool showRejected = parser.has("r");
+    bool refindStrategy = parser.has("rs");
+    int camId = parser.get<int>("ci");
 
-    bool showRejected = false;
-    if(isParam("-r", argc, argv)) showRejected = true;
 
     Mat camMatrix, distCoeffs;
-    if(isParam("-c", argc, argv)) {
-        bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
+    if(parser.has("c")) {
+        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
         if(!readOk) {
             cerr << "Invalid camera file" << endl;
             return 0;
@@ -165,8 +138,8 @@ int main(int argc, char *argv[]) {
     }
 
     aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
             cerr << "Invalid detector parameters file" << endl;
             return 0;
@@ -174,17 +147,25 @@ int main(int argc, char *argv[]) {
     }
     detectorParams.doCornerRefinement = true; // do corner refinement in markers
 
-    bool refindStrategy = false;
-    if(isParam("-rs", argc, argv)) refindStrategy = true;
+    String video;
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
+
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
 
     VideoCapture inputVideo;
     int waitTime;
-    if(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }
diff --git a/modules/aruco/samples/detect_board_charuco.cpp b/modules/aruco/samples/detect_board_charuco.cpp
index 36524bd01..4c72e2627 100644
--- a/modules/aruco/samples/detect_board_charuco.cpp
+++ b/modules/aruco/samples/detect_board_charuco.cpp
@@ -46,50 +46,25 @@ using namespace std;
 using namespace cv;
 
 
-/**
- */
-static void help() {
-    cout << "Pose estimation using a ChArUco board" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-w <nmarkers> # Number of markers in X direction" << endl;
-    cout << "-h <nsquares> # Number of squares in Y direction" << endl;
-    cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
-    cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
-    cout << "-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" << endl;
-    cout << "[-c <cameraParams>] # Camera intrinsic parameters file" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-rs] # Apply refind strategy" << endl;
-    cout << "[-r] # show rejected candidates too" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
+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 lenght (in pixels) }"
+        "{ml       |       | Marker side lenght (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}"
+        "{c        |       | 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       |       | Apply refind strategy }"
+        "{r        |       | show rejected candidates too }";
 }
 
-
 /**
  */
 static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@@ -135,27 +110,31 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-sl", argc, argv) ||
-       !isParam("-ml", argc, argv) || !isParam("-d", argc, argv)) {
-        help();
+    if(argc < 6) {
+        parser.printMessage();
         return 0;
     }
 
-    int squaresX = atoi(getParam("-w", argc, argv).c_str());
-    int squaresY = atoi(getParam("-h", argc, argv).c_str());
-    float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
-    float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
-    bool showRejected = false;
-    if(isParam("-r", argc, argv)) showRejected = true;
+    int squaresX = parser.get<int>("w");
+    int squaresY = parser.get<int>("h");
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    int dictionaryId = parser.get<int>("d");
+    bool showRejected = parser.has("r");
+    bool refindStrategy = parser.has("rs");
+    int camId = parser.get<int>("ci");
+
+    String video;
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
 
     Mat camMatrix, distCoeffs;
-    if(isParam("-c", argc, argv)) {
-        bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
+    if(parser.has("c")) {
+        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
         if(!readOk) {
             cerr << "Invalid camera file" << endl;
             return 0;
@@ -163,25 +142,28 @@ int main(int argc, char *argv[]) {
     }
 
     aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
             cerr << "Invalid detector parameters file" << endl;
             return 0;
         }
     }
 
-    bool refindStrategy = false;
-    if(isParam("-rs", argc, argv)) refindStrategy = true;
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
 
     VideoCapture inputVideo;
     int waitTime;
-    if(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }
@@ -251,7 +233,7 @@ int main(int argc, char *argv[]) {
 
         if(interpolatedCorners > 0) {
             Scalar color;
-            color = Scalar(0, 0, 255);
+            color = Scalar(255, 0, 0);
             aruco::drawDetectedCornersCharuco(imageCopy, charucoCorners, charucoIds, color);
         }
 
diff --git a/modules/aruco/samples/detect_diamonds.cpp b/modules/aruco/samples/detect_diamonds.cpp
index f350b2f6a..d19418ef7 100644
--- a/modules/aruco/samples/detect_diamonds.cpp
+++ b/modules/aruco/samples/detect_diamonds.cpp
@@ -46,51 +46,26 @@ using namespace std;
 using namespace cv;
 
 
-/**
- */
-static void help() {
-    cout << "Detect ChArUco markers" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-sl <squareLength> # Square side lenght (in meters)" << endl;
-    cout << "-ml <markerLength> # Marker side lenght (in meters)" << endl;
-    cout << "-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" << endl;
-    cout << "[-c <cameraParams>] # Camera intrinsic parameters file" << endl;
-    cout << "[-as <float>] # 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" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-r] # show rejected candidates too" << endl;
-}
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
-}
-
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
+namespace {
+const char* about = "Detect ChArUco markers";
+const char* keys  =
+        "{sl       |       | Square side lenght (in pixels) }"
+        "{ml       |       | Marker side lenght (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}"
+        "{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 }"
+        "{rs       |       | Apply refind strategy }"
+        "{r        |       | show rejected candidates too }";
 }
 
-
 /**
  */
 static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@@ -136,56 +111,61 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-sl", argc, argv) || !isParam("-ml", argc, argv) || !isParam("-d", argc, argv)) {
-        help();
+    if(argc < 4) {
+        parser.printMessage();
         return 0;
     }
 
-    float squareLength = (float)atof(getParam("-sl", argc, argv).c_str());
-    float markerLength = (float)atof(getParam("-ml", argc, argv).c_str());
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
-    bool showRejected = false;
-    if(isParam("-r", argc, argv)) showRejected = true;
+    float squareLength = parser.get<float>("sl");
+    float markerLength = parser.get<float>("ml");
+    int dictionaryId = parser.get<int>("d");
+    bool showRejected = parser.has("r");
+    bool estimatePose = parser.has("c");
+    bool autoScale = parser.has("as");
+    float autoScaleFactor = autoScale ? parser.get<float>("as") : 1.f;
 
-    bool estimatePose = false;
-    Mat camMatrix, distCoeffs;
-    if(isParam("-c", argc, argv)) {
-        bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
+    aruco::DetectorParameters detectorParams;
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
-            cerr << "Invalid camera file" << endl;
+            cerr << "Invalid detector parameters file" << endl;
             return 0;
         }
-        estimatePose = true;
     }
 
-    bool autoScale = false;
-    float autoScaleFactor = 1.;
-    if(isParam("-as", argc, argv)) {
-        autoScaleFactor = (float)atof(getParam("-as", argc, argv).c_str());
-        autoScale = true;
+    int camId = parser.get<int>("ci");
+    String video;
+
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
     }
 
-    aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+
+    Mat camMatrix, distCoeffs;
+    if(estimatePose) {
+        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
         if(!readOk) {
-            cerr << "Invalid detector parameters file" << endl;
+            cerr << "Invalid camera file" << endl;
             return 0;
         }
     }
 
     VideoCapture inputVideo;
     int waitTime;
-    if(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }
@@ -224,7 +204,7 @@ int main(int argc, char *argv[]) {
                 for(unsigned int i = 0; i < diamondCorners.size(); i++) {
                     float autoSquareLength = autoScaleFactor * float(diamondIds[i].val[3]);
                     vector< vector< Point2f > > currentCorners;
-                    vector< Mat > currentRvec, currentTvec;
+                    vector< Vec3d > currentRvec, currentTvec;
                     currentCorners.push_back(diamondCorners[i]);
                     aruco::estimatePoseSingleMarkers(currentCorners, autoSquareLength, camMatrix,
                                                      distCoeffs, currentRvec, currentTvec);
diff --git a/modules/aruco/samples/detect_markers.cpp b/modules/aruco/samples/detect_markers.cpp
index ffae81312..02882bffa 100644
--- a/modules/aruco/samples/detect_markers.cpp
+++ b/modules/aruco/samples/detect_markers.cpp
@@ -39,56 +39,26 @@ the use of this software, even if advised of the possibility of such damage.
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/aruco.hpp>
-#include <vector>
 #include <iostream>
 
 using namespace std;
 using namespace cv;
 
-
-/**
- */
-static void help() {
-    cout << "Basic marker detection" << endl;
-    cout << "Parameters: " << endl;
-    cout << "-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" << endl;
-    cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
-    cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
-    cout << "[-c <cameraParams>] # Camera intrinsic parameters. Needed for camera pose" << endl;
-    cout << "[-l <markerLength>] # Marker side lenght (in meters). Needed for correct"
-         << "scale in camera pose, default 0.1" << endl;
-    cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
-    cout << "[-r] # show rejected candidates too" << endl;
-}
-
-
-
-/**
- */
-static bool isParam(string param, int argc, char **argv) {
-    for(int i = 0; i < argc; i++)
-        if(string(argv[i]) == param) return true;
-    return false;
+namespace {
+const char* about = "Basic marker detection";
+const char* keys  =
+        "{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}"
+        "{v        |       | Input from video file, if ommited, input comes from camera }"
+        "{ci       | 0     | Camera id if input doesnt come from video (-v) }"
+        "{c        |       | Camera intrinsic parameters. Needed for camera pose }"
+        "{l        | 0.1   | Marker side lenght (in meters). Needed for correct scale in camera pose }"
+        "{dp       |       | File of marker detector parameters }"
+        "{r        |       | show rejected candidates too }";
 }
 
-
-/**
- */
-static string getParam(string param, int argc, char **argv, string defvalue = "") {
-    int idx = -1;
-    for(int i = 0; i < argc && idx == -1; i++)
-        if(string(argv[i]) == param) idx = i;
-    if(idx == -1 || (idx + 1) >= argc)
-        return defvalue;
-    else
-        return argv[idx + 1];
-}
-
-
-
 /**
  */
 static bool readCameraParameters(string filename, Mat &camMatrix, Mat &distCoeffs) {
@@ -136,49 +106,59 @@ static bool readDetectorParameters(string filename, aruco::DetectorParameters &p
 /**
  */
 int main(int argc, char *argv[]) {
+    CommandLineParser parser(argc, argv, keys);
+    parser.about(about);
 
-    if(!isParam("-d", argc, argv)) {
-        help();
+    if(argc < 2) {
+        parser.printMessage();
         return 0;
     }
 
-    int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
-    aruco::Dictionary dictionary =
-        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
-    bool showRejected = false;
-    if(isParam("-r", argc, argv)) showRejected = true;
+    int dictionaryId = parser.get<int>("d");
+    bool showRejected = parser.has("r");
+    bool estimatePose = parser.has("c");
+    float markerLength = parser.get<float>("l");
 
-    bool estimatePose = false;
-    Mat camMatrix, distCoeffs;
-    if(isParam("-c", argc, argv)) {
-        bool readOk = readCameraParameters(getParam("-c", argc, argv), camMatrix, distCoeffs);
+    aruco::DetectorParameters detectorParams;
+    if(parser.has("dp")) {
+        bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
         if(!readOk) {
-            cerr << "Invalid camera file" << endl;
+            cerr << "Invalid detector parameters file" << endl;
             return 0;
         }
-        estimatePose = true;
     }
-    float markerLength = (float)atof(getParam("-l", argc, argv, "0.1").c_str());
+    detectorParams.doCornerRefinement = true; // do corner refinement in markers
+
+    int camId = parser.get<int>("ci");
+
+    String video;
+    if(parser.has("v")) {
+        video = parser.get<String>("v");
+    }
 
-    aruco::DetectorParameters detectorParams;
-    if(isParam("-dp", argc, argv)) {
-        bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
+    if(!parser.check()) {
+        parser.printErrors();
+        return 0;
+    }
+
+    aruco::Dictionary dictionary =
+        aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+
+    Mat camMatrix, distCoeffs;
+    if(estimatePose) {
+        bool readOk = readCameraParameters(parser.get<string>("c"), camMatrix, distCoeffs);
         if(!readOk) {
-            cerr << "Invalid detector parameters file" << endl;
+            cerr << "Invalid camera file" << endl;
             return 0;
         }
     }
-    detectorParams.doCornerRefinement = true; // do corner refinement in markers
 
     VideoCapture inputVideo;
     int waitTime;
-    if(isParam("-v", argc, argv)) {
-        inputVideo.open(getParam("-v", argc, argv));
+    if(!video.empty()) {
+        inputVideo.open(video);
         waitTime = 0;
     } else {
-        int camId = 0;
-        if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
         inputVideo.open(camId);
         waitTime = 10;
     }