diff --git a/modules/calib3d/misc/python/test/test_calibration.py b/modules/calib3d/misc/python/test/test_calibration.py
index c3093ce2ef..8c3e2c6467 100644
--- a/modules/calib3d/misc/python/test/test_calibration.py
+++ b/modules/calib3d/misc/python/test/test_calibration.py
@@ -84,5 +84,13 @@ class calibration_test(NewOpenCVTests):
         self.assertTrue(imagePoints is not None)
         self.assertTrue(jacobian is not None)
 
+    def test_sampsonDistance_valid2D(self):
+        pt1 = (np.random.rand(3, 10) * 256).astype(np.float64)
+        pt2 = (np.random.rand(3, 10) * 256).astype(np.float64)
+        F = (np.random.rand(3, 3) * 256).astype(np.float64)
+        dist = cv.sampsonDistance(pt1, pt2, F)
+        self.assertTrue(isinstance(dist, (float, np.floating)))
+        self.assertGreaterEqual(dist, 0.0)
+
 if __name__ == '__main__':
     NewOpenCVTests.bootstrap()
diff --git a/modules/calib3d/src/fundam.cpp b/modules/calib3d/src/fundam.cpp
index 4c8d511a93..e107332c95 100644
--- a/modules/calib3d/src/fundam.cpp
+++ b/modules/calib3d/src/fundam.cpp
@@ -1224,7 +1224,7 @@ double cv::sampsonDistance(InputArray _pt1, InputArray _pt2, InputArray _F)
 {
     CV_INSTRUMENT_REGION();
 
-    CV_Assert(_pt1.type() == CV_64F && _pt2.type() == CV_64F && _F.type() == CV_64F);
+    CV_Assert(_pt1.depth() == CV_64F && _pt2.depth() == CV_64F && _F.depth() == CV_64F);
     CV_DbgAssert(_pt1.rows() == 3 && _F.size() == Size(3, 3) && _pt1.rows() == _pt2.rows());
 
     Mat pt1(_pt1.getMat());