diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 90ded1a0ad..2ed4ce2d90 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -222,7 +222,7 @@ int main(int argc, char *argv[])
     Mat inliers_idx;
     vector<Point2f> list_points2d_inliers;
 
-    if(good_matches.size() > 0) // None matches, then RANSAC crashes
+    if(good_matches.size() >= 4) // OpenCV requires solvePnPRANSAC to minimally have 4 set of points
     {
 
       // -- Step 3: Estimate the pose using RANSAC approach