diff --git a/modules/aruco/include/opencv2/aruco.hpp b/modules/aruco/include/opencv2/aruco.hpp
index ba802a6fbaa..39c9802e277 100644
--- a/modules/aruco/include/opencv2/aruco.hpp
+++ b/modules/aruco/include/opencv2/aruco.hpp
@@ -144,6 +144,8 @@ enum CornerRefineMethod{
  *   done at full resolution.
  * - aprilTagQuadSigma: What Gaussian blur should be applied to the segmented image (used for quad detection?)
  *   Parameter is the standard deviation in pixels.  Very noisy images benefit from non-zero values (e.g. 0.8).
+ * - detectInvertedMarker: to check if there is a white marker. In order to generate a "white" marker just
+ *   invert a normal marker by using a tilde, ~markerImage. (default false)
  */
 struct CV_EXPORTS_W DetectorParameters {
 
@@ -183,6 +185,9 @@ struct CV_EXPORTS_W DetectorParameters {
     CV_PROP_RW float aprilTagMaxLineFitMse;
     CV_PROP_RW int aprilTagMinWhiteBlackDiff;
     CV_PROP_RW int aprilTagDeglitch;
+
+    // to detect white markers
+    CV_PROP_RW bool detectInvertedMarker;
 };
 
 
diff --git a/modules/aruco/src/aruco.cpp b/modules/aruco/src/aruco.cpp
index 76cd9edb3e2..eb4915bbdae 100644
--- a/modules/aruco/src/aruco.cpp
+++ b/modules/aruco/src/aruco.cpp
@@ -86,7 +86,8 @@ DetectorParameters::DetectorParameters()
       aprilTagCriticalRad( (float)(10* CV_PI /180) ),
       aprilTagMaxLineFitMse(10.0),
       aprilTagMinWhiteBlackDiff(5),
-      aprilTagDeglitch(0){}
+      aprilTagDeglitch(0),
+      detectInvertedMarker(false){}
 
 
 /**
@@ -512,7 +513,18 @@ static bool _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArray
         int(dictionary->markerSize * dictionary->markerSize * params->maxErroneousBitsInBorderRate);
     int borderErrors =
         _getBorderErrors(candidateBits, dictionary->markerSize, params->markerBorderBits);
-    if(borderErrors > maximumErrorsInBorder) return false; // border is wrong
+
+    // check if it is a white marker
+    if(params->detectInvertedMarker){
+	// to get from 255 to 1
+        int invBError = _getBorderErrors(~candidateBits-254, dictionary->markerSize, params->markerBorderBits);
+	// white marker
+        if(invBError<borderErrors){
+            borderErrors = invBError;
+            candidateBits=~candidateBits-254;
+        }
+    }
+    if(borderErrors > maximumErrorsInBorder) return false;
 
     // take only inner bits
     Mat onlyBits =