diff --git a/modules/aruco/include/opencv2/aruco.hpp b/modules/aruco/include/opencv2/aruco.hpp
index 01bd1e22f..ec828b781 100644
--- a/modules/aruco/include/opencv2/aruco.hpp
+++ b/modules/aruco/include/opencv2/aruco.hpp
@@ -41,34 +41,7 @@ CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArr
                                                InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
 
 
-/**
- * @brief Pose estimation for a board of markers
- *
- * @param corners vector of already detected markers corners. For each marker, its four corners
- * are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
- * dimensions of this array should be Nx4. The order of the corners should be clockwise.
- * @param ids list of identifiers for each marker in corners
- * @param board layout of markers in the board. The layout is composed by the marker identifiers
- * and the positions of each marker corner in the board reference system.
- * @param cameraMatrix input 3x3 floating-point camera matrix
- * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
- * @param distCoeffs vector of distortion coefficients
- * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
- * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
- * (see cv::Rodrigues). Used as initial guess if not empty.
- * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
- * @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
- * Used as initial guess if not empty.
- *
- * This function receives the detected markers and returns the pose of a marker board composed
- * by those markers.
- * A Board of marker has a single world coordinate system which is defined by the board layout.
- * The returned transformation is the one that transforms points from the board coordinate system
- * to the camera coordinate system.
- * Input markers that are not included in the board layout are ignored.
- * The function returns the number of markers from the input employed for the board pose estimation.
- * Note that returning a 0 means the pose has not been estimated.
- * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
+/** @deprecated Use cv::solvePnP
  */
 CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
                                    InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
@@ -98,41 +71,7 @@ CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray
                                            InputArray distCoeffs, InputOutputArray rvec,
                                            InputOutputArray tvec, bool useExtrinsicGuess = false);
 
-/**
- * @brief Pose estimation for single markers
- *
- * @param corners vector of already detected markers corners. For each marker, its four corners
- * are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
- * the dimensions of this array should be Nx4. The order of the corners should be clockwise.
- * @sa detectMarkers
- * @param markerLength the length of the markers' side. The returning translation vectors will
- * be in the same unit. Normally, unit is meters.
- * @param cameraMatrix input 3x3 floating-point camera matrix
- * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
- * @param distCoeffs vector of distortion coefficients
- * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
- * @param rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>).
- * Each element in rvecs corresponds to the specific marker in imgPoints.
- * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
- * Each element in tvecs corresponds to the specific marker in imgPoints.
- * @param objPoints array of object points of all the marker corners
- * @param estimateParameters set the origin of coordinate system and the coordinates of the four corners of the marker
- * (default estimateParameters.pattern = PatternPositionType::ARUCO_CCW_CENTER, estimateParameters.useExtrinsicGuess = false,
- * estimateParameters.solvePnPMethod = SOLVEPNP_ITERATIVE).
- *
- * This function receives the detected markers and returns their pose estimation respect to
- * the camera individually. So for each marker, one rotation and translation vector is returned.
- * The returned transformation is the one that transforms points from each marker coordinate system
- * to the camera coordinate system.
- * The marker coordinate system is centered on the middle (by default) or on the top-left corner of the marker,
- * with the Z axis perpendicular to the marker plane.
- * estimateParameters defines the coordinates of the four corners of the marker in its own coordinate system (by default) are:
- * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
- * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
- * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
- * @sa @ref tutorial_aruco_detection
- * @sa EstimateParameters
- * @sa PatternPositionType
+/** @deprecated Use cv::solvePnP
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,