diff --git a/modules/aruco/src/aruco.cpp b/modules/aruco/src/aruco.cpp
index 4d8f2b85f01..ca515bb3515 100644
--- a/modules/aruco/src/aruco.cpp
+++ b/modules/aruco/src/aruco.cpp
@@ -306,34 +306,36 @@ static void _filterTooCloseCandidates(const vector< vector< Point2f > > &candida
     vector< vector< Point > > smallerContours;
 
     // save possible candidates
-    for( unsigned int i = 0; i < groupedCandidates.size(); i++ ) {
-        int smallerIdx = groupedCandidates[i][0];
-        int biggerIdx = -1;
+    for(unsigned int i = 0; i < groupedCandidates.size(); i++) {
+        unsigned int smallerIdx = groupedCandidates[i][0];
+        unsigned int biggerIdx = smallerIdx;
+        double smallerArea = contourArea(candidatesIn[smallerIdx]);
+        double biggerArea = smallerArea;
 
         // evaluate group elements
-        for( unsigned int j = 1; j < groupedCandidates[i].size(); j++ ) {
-            size_t currPerim = contoursIn[ groupedCandidates[i][j] ].size();
+        for(unsigned int j = 1; j < groupedCandidates[i].size(); j++) {
+            unsigned int currIdx = groupedCandidates[i][j];
+            double currArea = contourArea(candidatesIn[currIdx]);
 
             // check if current contour is bigger
-            if ( biggerIdx < 0 )
-                biggerIdx = groupedCandidates[i][j];
-            else if(currPerim >= contoursIn[ biggerIdx ].size())
-                biggerIdx = groupedCandidates[i][j];
+            if(currArea >= biggerArea) {
+                biggerIdx = currIdx;
+                biggerArea = currArea;
+            }
 
             // check if current contour is smaller
-            if(currPerim < contoursIn[ smallerIdx ].size() && detectInvertedMarker)
-                smallerIdx = groupedCandidates[i][j];
+            if(currArea < smallerArea && detectInvertedMarker) {
+                smallerIdx = currIdx;
+                smallerArea = currArea;
+            }
         }
-        // add contours und candidates
-        if(biggerIdx > -1){
 
-            biggerCandidates.push_back(candidatesIn[biggerIdx]);
-            biggerContours.push_back(contoursIn[biggerIdx]);
-
-            if( detectInvertedMarker ){
-                smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
-                smallerContours.push_back(contoursIn[smallerIdx]);
-            }
+        // add contours and candidates
+        biggerCandidates.push_back(candidatesIn[biggerIdx]);
+        biggerContours.push_back(contoursIn[biggerIdx]);
+        if(detectInvertedMarker) {
+            smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
+            smallerContours.push_back(contoursIn[smallerIdx]);
         }
     }
     // to preserve the structure :: candidateSet< defaultCandidates, whiteCandidates >