diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt
index 66de6b53..8e182b55 100644
--- a/share/CMakeLists.txt
+++ b/share/CMakeLists.txt
@@ -37,6 +37,13 @@ if(ENABLE_QrDetector)
     endif()
 endif()
 
+if(ENABLE_ArucoDetector)
+    if(ENABLE_tests)
+        yarp_install(DIRECTORY contexts/ArucoDetector/tests
+                     DESTINATION ${ROBOTICSLAB-VISION_CONTEXTS_INSTALL_DIR}/ArucoDetector)
+    endif()
+endif()
+
 if(ENABLE_sceneReconstruction)
     yarp_install(DIRECTORY contexts/sceneReconstruction
                  DESTINATION ${ROBOTICSLAB-VISION_CONTEXTS_INSTALL_DIR})
diff --git a/share/contexts/ArucoDetector/tests/rdaruco.png b/share/contexts/ArucoDetector/tests/rdaruco.png
new file mode 100644
index 00000000..af5944ae
Binary files /dev/null and b/share/contexts/ArucoDetector/tests/rdaruco.png differ