diff --git a/modules/imgproc/src/intersection.cpp b/modules/imgproc/src/intersection.cpp
index 3f749896a4..47d3f3f457 100644
--- a/modules/imgproc/src/intersection.cpp
+++ b/modules/imgproc/src/intersection.cpp
@@ -47,24 +47,16 @@
 namespace cv
 {
 
-int rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& rect2, OutputArray intersectingRegion )
+static int _rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& rect2, std::vector<Point2f> &intersection )
 {
     CV_INSTRUMENT_REGION();
 
     // L2 metric
     const float samePointEps = std::max(1e-16f, 1e-6f * (float)std::max(rect1.size.area(), rect2.size.area()));
 
-    if (rect1.size.empty() || rect2.size.empty())
-    {
-        intersectingRegion.release();
-        return INTERSECT_NONE;
-    }
-
     Point2f vec1[4], vec2[4];
     Point2f pts1[4], pts2[4];
 
-    std::vector <Point2f> intersection; intersection.reserve(24);
-
     rect1.points(pts1);
     rect2.points(pts2);
 
@@ -92,8 +84,6 @@ int rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& r
                 intersection[i] = pts1[i];
             }
 
-            Mat(intersection).copyTo(intersectingRegion);
-
             return INTERSECT_FULL;
         }
     }
@@ -300,7 +290,50 @@ int rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& r
     }
 
     intersection.resize(N);
-    Mat(intersection).copyTo(intersectingRegion);
+
+    return ret;
+}
+
+int rotatedRectangleIntersection( const RotatedRect& rect1, const RotatedRect& rect2, OutputArray intersectingRegion )
+{
+    CV_INSTRUMENT_REGION();
+
+    if (rect1.size.empty() || rect2.size.empty())
+    {
+        intersectingRegion.release();
+        return INTERSECT_NONE;
+    }
+
+    // Shift rectangles closer to origin (0, 0) to improve the calculation of the intesection region
+    // To do that, the average center of the rectangles is moved to the origin
+    const Point2f averageCenter = (rect1.center + rect2.center) / 2.0f;
+
+    RotatedRect shiftedRect1(rect1);
+    RotatedRect shiftedRect2(rect2);
+
+    // Move rectangles closer to origin
+    shiftedRect1.center -= averageCenter;
+    shiftedRect2.center -= averageCenter;
+
+    std::vector <Point2f> intersection; intersection.reserve(24);
+
+    const int ret = _rotatedRectangleIntersection(shiftedRect1, shiftedRect2, intersection);
+
+    // If return is not None, the intersection Points are shifted back to the original position
+    // and copied to the interesectingRegion
+    if (ret != INTERSECT_NONE)
+    {
+        for (size_t i = 0; i < intersection.size(); ++i)
+        {
+            intersection[i] += averageCenter;
+        }
+
+        Mat(intersection).copyTo(intersectingRegion);
+    }
+    else
+    {
+        intersectingRegion.release();
+    }
 
     return ret;
 }
diff --git a/modules/imgproc/test/test_intersection.cpp b/modules/imgproc/test/test_intersection.cpp
index 7527dd9a22..c455c439fc 100644
--- a/modules/imgproc/test/test_intersection.cpp
+++ b/modules/imgproc/test/test_intersection.cpp
@@ -391,4 +391,21 @@ TEST(Imgproc_RotatedRectangleIntersection, regression_18520)
     }
 }
 
+TEST(Imgproc_RotatedRectangleIntersection, regression_19824)
+{
+    RotatedRect r1(
+        Point2f(246805.033f, 4002326.94f),
+        Size2f(26.40587f, 6.20026f),
+        -62.10156f);
+    RotatedRect r2(
+        Point2f(246805.122f, 4002326.59f),
+        Size2f(27.4821f, 8.5361f),
+        -56.33761f);
+
+    std::vector<Point2f> intersections;
+    int interType = cv::rotatedRectangleIntersection(r1, r2, intersections);
+    EXPECT_EQ(INTERSECT_PARTIAL, interType);
+    EXPECT_LE(intersections.size(), (size_t)7);
+}
+
 }} // namespace