diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index dbc44585c1..8f2b8deb65 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
 {
@@ -58,14 +58,14 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
         solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
     }
 
-    SANITY_CHECK(rvec, 1e-4);
-    SANITY_CHECK(tvec, 1e-4);
+    SANITY_CHECK(rvec, 1e-6);
+    SANITY_CHECK(tvec, 1e-6);
 }
 
 PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
             testing::Combine(
                 testing::Values(4), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS)
+                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
                 )
             )
 {