diff --git a/modules/cudalegacy/CMakeLists.txt b/modules/cudalegacy/CMakeLists.txt
new file mode 100644
index 0000000000..a593bf401b
--- /dev/null
+++ b/modules/cudalegacy/CMakeLists.txt
@@ -0,0 +1,9 @@
+if(NOT HAVE_CUDA)
+  ocv_module_disable(cudalegacy)
+endif()
+
+set(the_description "CUDA-accelerated Computer Vision (legacy)")
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized)
+
+ocv_define_module(cudalegacy opencv_core OPTIONAL opencv_objdetect)
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy.hpp b/modules/cudalegacy/include/opencv2/cudalegacy.hpp
similarity index 86%
rename from modules/gpulegacy/include/opencv2/gpulegacy.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy.hpp
index fb88481a8f..5ae75cd316 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy.hpp
@@ -40,13 +40,13 @@
 //
 //M*/
 
-#ifndef __OPENCV_GPULEGACY_HPP__
-#define __OPENCV_GPULEGACY_HPP__
+#ifndef __OPENCV_CUDALEGACY_HPP__
+#define __OPENCV_CUDALEGACY_HPP__
 
-#include "opencv2/gpulegacy/NCV.hpp"
-#include "opencv2/gpulegacy/NPP_staging.hpp"
-#include "opencv2/gpulegacy/NCVPyramid.hpp"
-#include "opencv2/gpulegacy/NCVHaarObjectDetection.hpp"
-#include "opencv2/gpulegacy/NCVBroxOpticalFlow.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NPP_staging.hpp"
+#include "opencv2/cudalegacy/NCVPyramid.hpp"
+#include "opencv2/cudalegacy/NCVHaarObjectDetection.hpp"
+#include "opencv2/cudalegacy/NCVBroxOpticalFlow.hpp"
 
-#endif /* __OPENCV_GPULEGACY_HPP__ */
+#endif /* __OPENCV_CUDALEGACY_HPP__ */
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/NCV.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/NCV.hpp
similarity index 100%
rename from modules/gpulegacy/include/opencv2/gpulegacy/NCV.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/NCV.hpp
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/NCVBroxOpticalFlow.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/NCVBroxOpticalFlow.hpp
similarity index 99%
rename from modules/gpulegacy/include/opencv2/gpulegacy/NCVBroxOpticalFlow.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/NCVBroxOpticalFlow.hpp
index 689347ac48..777000cf7b 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy/NCVBroxOpticalFlow.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy/NCVBroxOpticalFlow.hpp
@@ -60,7 +60,7 @@
 #ifndef _ncv_optical_flow_h_
 #define _ncv_optical_flow_h_
 
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 /// \brief Model and solver parameters
 struct NCVBroxOpticalFlowDescriptor
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/NCVHaarObjectDetection.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/NCVHaarObjectDetection.hpp
similarity index 99%
rename from modules/gpulegacy/include/opencv2/gpulegacy/NCVHaarObjectDetection.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/NCVHaarObjectDetection.hpp
index 78ecf3b7e5..6c69cbd5a1 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy/NCVHaarObjectDetection.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy/NCVHaarObjectDetection.hpp
@@ -59,7 +59,7 @@
 #ifndef _ncvhaarobjectdetection_hpp_
 #define _ncvhaarobjectdetection_hpp_
 
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 
 //==============================================================================
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/NCVPyramid.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/NCVPyramid.hpp
similarity index 99%
rename from modules/gpulegacy/include/opencv2/gpulegacy/NCVPyramid.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/NCVPyramid.hpp
index 6b38c32f28..7ec22a367f 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy/NCVPyramid.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy/NCVPyramid.hpp
@@ -45,7 +45,7 @@
 
 #include <memory>
 #include <vector>
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 #include "opencv2/core/cuda/common.hpp"
 
 namespace cv { namespace cuda { namespace device
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/NPP_staging.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/NPP_staging.hpp
similarity index 99%
rename from modules/gpulegacy/include/opencv2/gpulegacy/NPP_staging.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/NPP_staging.hpp
index ce64ae8103..979ceef41f 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy/NPP_staging.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy/NPP_staging.hpp
@@ -43,7 +43,7 @@
 #ifndef _npp_staging_hpp_
 #define _npp_staging_hpp_
 
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 
 /**
diff --git a/modules/gpulegacy/include/opencv2/gpulegacy/private.hpp b/modules/cudalegacy/include/opencv2/cudalegacy/private.hpp
similarity index 94%
rename from modules/gpulegacy/include/opencv2/gpulegacy/private.hpp
rename to modules/cudalegacy/include/opencv2/cudalegacy/private.hpp
index dd1c002522..0fc939ec48 100644
--- a/modules/gpulegacy/include/opencv2/gpulegacy/private.hpp
+++ b/modules/cudalegacy/include/opencv2/cudalegacy/private.hpp
@@ -41,8 +41,8 @@
 //
 //M*/
 
-#ifndef __OPENCV_CORE_GPULEGACY_PRIVATE_HPP__
-#define __OPENCV_CORE_GPULEGACY_PRIVATE_HPP__
+#ifndef __OPENCV_CORE_CUDALEGACY_PRIVATE_HPP__
+#define __OPENCV_CORE_CUDALEGACY_PRIVATE_HPP__
 
 #ifndef __OPENCV_BUILD
 #  error this is a private header which should not be used from outside of the OpenCV library
@@ -51,10 +51,10 @@
 #include "opencv2/core/private.cuda.hpp"
 
 #ifndef HAVE_CUDA
-#  error gpulegacy module requires CUDA
+#  error cudalegacy module requires CUDA
 #endif
 
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 
 namespace cv { namespace cuda
 {
@@ -93,4 +93,4 @@ namespace cv { namespace cuda
     #define ncvSafeCall(expr)  cv::cuda::checkNcvError(expr, __FILE__, __LINE__, "")
 #endif
 
-#endif // __OPENCV_CORE_GPULEGACY_PRIVATE_HPP__
+#endif // __OPENCV_CORE_CUDALEGACY_PRIVATE_HPP__
diff --git a/modules/gpulegacy/src/NCV.cpp b/modules/cudalegacy/src/NCV.cpp
similarity index 100%
rename from modules/gpulegacy/src/NCV.cpp
rename to modules/cudalegacy/src/NCV.cpp
diff --git a/modules/gpulegacy/src/cuda/NCV.cu b/modules/cudalegacy/src/cuda/NCV.cu
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCV.cu
rename to modules/cudalegacy/src/cuda/NCV.cu
index 8774af5c95..27d3a84e77 100644
--- a/modules/gpulegacy/src/cuda/NCV.cu
+++ b/modules/cudalegacy/src/cuda/NCV.cu
@@ -43,7 +43,7 @@
 #include <iostream>
 #include <vector>
 
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 //===================================================================
 //
diff --git a/modules/gpulegacy/src/cuda/NCVAlg.hpp b/modules/cudalegacy/src/cuda/NCVAlg.hpp
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCVAlg.hpp
rename to modules/cudalegacy/src/cuda/NCVAlg.hpp
index dc086d944c..96a7e5e0f6 100644
--- a/modules/gpulegacy/src/cuda/NCVAlg.hpp
+++ b/modules/cudalegacy/src/cuda/NCVAlg.hpp
@@ -43,7 +43,7 @@
 #ifndef _ncv_alg_hpp_
 #define _ncv_alg_hpp_
 
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 
 template <class T>
diff --git a/modules/gpulegacy/src/cuda/NCVBroxOpticalFlow.cu b/modules/cudalegacy/src/cuda/NCVBroxOpticalFlow.cu
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCVBroxOpticalFlow.cu
rename to modules/cudalegacy/src/cuda/NCVBroxOpticalFlow.cu
index f20505230c..c51b946d31 100644
--- a/modules/gpulegacy/src/cuda/NCVBroxOpticalFlow.cu
+++ b/modules/cudalegacy/src/cuda/NCVBroxOpticalFlow.cu
@@ -63,8 +63,8 @@
 
 #include "opencv2/core/cuda/utility.hpp"
 
-#include "opencv2/gpulegacy/NPP_staging.hpp"
-#include "opencv2/gpulegacy/NCVBroxOpticalFlow.hpp"
+#include "opencv2/cudalegacy/NPP_staging.hpp"
+#include "opencv2/cudalegacy/NCVBroxOpticalFlow.hpp"
 
 
 typedef NCVVectorAlloc<Ncv32f> FloatVector;
diff --git a/modules/gpulegacy/src/cuda/NCVColorConversion.hpp b/modules/cudalegacy/src/cuda/NCVColorConversion.hpp
similarity index 100%
rename from modules/gpulegacy/src/cuda/NCVColorConversion.hpp
rename to modules/cudalegacy/src/cuda/NCVColorConversion.hpp
diff --git a/modules/gpulegacy/src/cuda/NCVHaarObjectDetection.cu b/modules/cudalegacy/src/cuda/NCVHaarObjectDetection.cu
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCVHaarObjectDetection.cu
rename to modules/cudalegacy/src/cuda/NCVHaarObjectDetection.cu
index 762824077a..fb276258f6 100644
--- a/modules/gpulegacy/src/cuda/NCVHaarObjectDetection.cu
+++ b/modules/cudalegacy/src/cuda/NCVHaarObjectDetection.cu
@@ -69,9 +69,9 @@
 #  include "opencv2/objdetect/objdetect_c.h"
 #endif
 
-#include "opencv2/gpulegacy/NCV.hpp"
-#include "opencv2/gpulegacy/NPP_staging.hpp"
-#include "opencv2/gpulegacy/NCVHaarObjectDetection.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NPP_staging.hpp"
+#include "opencv2/cudalegacy/NCVHaarObjectDetection.hpp"
 
 #include "NCVRuntimeTemplates.hpp"
 #include "NCVAlg.hpp"
diff --git a/modules/gpulegacy/src/cuda/NCVPixelOperations.hpp b/modules/cudalegacy/src/cuda/NCVPixelOperations.hpp
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCVPixelOperations.hpp
rename to modules/cudalegacy/src/cuda/NCVPixelOperations.hpp
index 5cf902a9f4..e094f6bc04 100644
--- a/modules/gpulegacy/src/cuda/NCVPixelOperations.hpp
+++ b/modules/cudalegacy/src/cuda/NCVPixelOperations.hpp
@@ -45,7 +45,7 @@
 
 #include <limits.h>
 #include <float.h>
-#include "opencv2/gpulegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
 
 template<typename TBase> inline __host__ __device__ TBase _pixMaxVal();
 template<> static inline __host__ __device__ Ncv8u  _pixMaxVal<Ncv8u>()  {return UCHAR_MAX;}
diff --git a/modules/gpulegacy/src/cuda/NCVPyramid.cu b/modules/cudalegacy/src/cuda/NCVPyramid.cu
similarity index 99%
rename from modules/gpulegacy/src/cuda/NCVPyramid.cu
rename to modules/cudalegacy/src/cuda/NCVPyramid.cu
index 103d8985c0..c37b1a9e1d 100644
--- a/modules/gpulegacy/src/cuda/NCVPyramid.cu
+++ b/modules/cudalegacy/src/cuda/NCVPyramid.cu
@@ -45,8 +45,8 @@
 
 #include "opencv2/core/cuda/common.hpp"
 
-#include "opencv2/gpulegacy/NCV.hpp"
-#include "opencv2/gpulegacy/NCVPyramid.hpp"
+#include "opencv2/cudalegacy/NCV.hpp"
+#include "opencv2/cudalegacy/NCVPyramid.hpp"
 
 #include "NCVAlg.hpp"
 #include "NCVPixelOperations.hpp"
diff --git a/modules/gpulegacy/src/cuda/NCVRuntimeTemplates.hpp b/modules/cudalegacy/src/cuda/NCVRuntimeTemplates.hpp
similarity index 100%
rename from modules/gpulegacy/src/cuda/NCVRuntimeTemplates.hpp
rename to modules/cudalegacy/src/cuda/NCVRuntimeTemplates.hpp
diff --git a/modules/gpulegacy/src/cuda/NPP_staging.cu b/modules/cudalegacy/src/cuda/NPP_staging.cu
similarity index 99%
rename from modules/gpulegacy/src/cuda/NPP_staging.cu
rename to modules/cudalegacy/src/cuda/NPP_staging.cu
index e155faa4ab..639798ed71 100644
--- a/modules/gpulegacy/src/cuda/NPP_staging.cu
+++ b/modules/cudalegacy/src/cuda/NPP_staging.cu
@@ -48,7 +48,7 @@
 #include "opencv2/core/cuda/warp.hpp"
 #include "opencv2/core/cuda/warp_shuffle.hpp"
 
-#include "opencv2/gpulegacy/NPP_staging.hpp"
+#include "opencv2/cudalegacy/NPP_staging.hpp"
 
 
 texture<Ncv8u,  1, cudaReadModeElementType> tex8u;
diff --git a/modules/gpulegacy/src/precomp.cpp b/modules/cudalegacy/src/precomp.cpp
similarity index 100%
rename from modules/gpulegacy/src/precomp.cpp
rename to modules/cudalegacy/src/precomp.cpp
diff --git a/modules/gpulegacy/src/precomp.hpp b/modules/cudalegacy/src/precomp.hpp
similarity index 97%
rename from modules/gpulegacy/src/precomp.hpp
rename to modules/cudalegacy/src/precomp.hpp
index 9979af8b0e..b432057efe 100644
--- a/modules/gpulegacy/src/precomp.hpp
+++ b/modules/cudalegacy/src/precomp.hpp
@@ -47,7 +47,7 @@
 #include <iostream>
 #include <algorithm>
 
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/core/utility.hpp"
 
 #include "opencv2/opencv_modules.hpp"
@@ -57,6 +57,6 @@
 #endif
 
 #include "opencv2/core/private.cuda.hpp"
-#include "opencv2/gpulegacy/private.hpp"
+#include "opencv2/cudalegacy/private.hpp"
 
 #endif /* __OPENCV_PRECOMP_H__ */
diff --git a/modules/gpulegacy/test/NCVAutoTestLister.hpp b/modules/cudalegacy/test/NCVAutoTestLister.hpp
similarity index 100%
rename from modules/gpulegacy/test/NCVAutoTestLister.hpp
rename to modules/cudalegacy/test/NCVAutoTestLister.hpp
diff --git a/modules/gpulegacy/test/NCVTest.hpp b/modules/cudalegacy/test/NCVTest.hpp
similarity index 99%
rename from modules/gpulegacy/test/NCVTest.hpp
rename to modules/cudalegacy/test/NCVTest.hpp
index b79c55e085..2c7b5f9050 100644
--- a/modules/gpulegacy/test/NCVTest.hpp
+++ b/modules/cudalegacy/test/NCVTest.hpp
@@ -56,7 +56,7 @@
 
 #include <cuda_runtime.h>
 
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 
 
 struct NCVTestReport
diff --git a/modules/gpulegacy/test/NCVTestSourceProvider.hpp b/modules/cudalegacy/test/NCVTestSourceProvider.hpp
similarity index 99%
rename from modules/gpulegacy/test/NCVTestSourceProvider.hpp
rename to modules/cudalegacy/test/NCVTestSourceProvider.hpp
index f2ffae56b2..8e0c94749f 100644
--- a/modules/gpulegacy/test/NCVTestSourceProvider.hpp
+++ b/modules/cudalegacy/test/NCVTestSourceProvider.hpp
@@ -46,7 +46,7 @@
 #include <memory>
 
 #include "opencv2/highgui.hpp"
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 
 
 template <class T>
diff --git a/modules/gpulegacy/test/TestCompact.cpp b/modules/cudalegacy/test/TestCompact.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestCompact.cpp
rename to modules/cudalegacy/test/TestCompact.cpp
diff --git a/modules/gpulegacy/test/TestCompact.h b/modules/cudalegacy/test/TestCompact.h
similarity index 100%
rename from modules/gpulegacy/test/TestCompact.h
rename to modules/cudalegacy/test/TestCompact.h
diff --git a/modules/gpulegacy/test/TestDrawRects.cpp b/modules/cudalegacy/test/TestDrawRects.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestDrawRects.cpp
rename to modules/cudalegacy/test/TestDrawRects.cpp
diff --git a/modules/gpulegacy/test/TestDrawRects.h b/modules/cudalegacy/test/TestDrawRects.h
similarity index 100%
rename from modules/gpulegacy/test/TestDrawRects.h
rename to modules/cudalegacy/test/TestDrawRects.h
diff --git a/modules/gpulegacy/test/TestHaarCascadeApplication.cpp b/modules/cudalegacy/test/TestHaarCascadeApplication.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestHaarCascadeApplication.cpp
rename to modules/cudalegacy/test/TestHaarCascadeApplication.cpp
diff --git a/modules/gpulegacy/test/TestHaarCascadeApplication.h b/modules/cudalegacy/test/TestHaarCascadeApplication.h
similarity index 100%
rename from modules/gpulegacy/test/TestHaarCascadeApplication.h
rename to modules/cudalegacy/test/TestHaarCascadeApplication.h
diff --git a/modules/gpulegacy/test/TestHaarCascadeLoader.cpp b/modules/cudalegacy/test/TestHaarCascadeLoader.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestHaarCascadeLoader.cpp
rename to modules/cudalegacy/test/TestHaarCascadeLoader.cpp
diff --git a/modules/gpulegacy/test/TestHaarCascadeLoader.h b/modules/cudalegacy/test/TestHaarCascadeLoader.h
similarity index 100%
rename from modules/gpulegacy/test/TestHaarCascadeLoader.h
rename to modules/cudalegacy/test/TestHaarCascadeLoader.h
diff --git a/modules/gpulegacy/test/TestHypothesesFilter.cpp b/modules/cudalegacy/test/TestHypothesesFilter.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestHypothesesFilter.cpp
rename to modules/cudalegacy/test/TestHypothesesFilter.cpp
diff --git a/modules/gpulegacy/test/TestHypothesesFilter.h b/modules/cudalegacy/test/TestHypothesesFilter.h
similarity index 100%
rename from modules/gpulegacy/test/TestHypothesesFilter.h
rename to modules/cudalegacy/test/TestHypothesesFilter.h
diff --git a/modules/gpulegacy/test/TestHypothesesGrow.cpp b/modules/cudalegacy/test/TestHypothesesGrow.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestHypothesesGrow.cpp
rename to modules/cudalegacy/test/TestHypothesesGrow.cpp
diff --git a/modules/gpulegacy/test/TestHypothesesGrow.h b/modules/cudalegacy/test/TestHypothesesGrow.h
similarity index 100%
rename from modules/gpulegacy/test/TestHypothesesGrow.h
rename to modules/cudalegacy/test/TestHypothesesGrow.h
diff --git a/modules/gpulegacy/test/TestIntegralImage.cpp b/modules/cudalegacy/test/TestIntegralImage.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestIntegralImage.cpp
rename to modules/cudalegacy/test/TestIntegralImage.cpp
diff --git a/modules/gpulegacy/test/TestIntegralImage.h b/modules/cudalegacy/test/TestIntegralImage.h
similarity index 100%
rename from modules/gpulegacy/test/TestIntegralImage.h
rename to modules/cudalegacy/test/TestIntegralImage.h
diff --git a/modules/gpulegacy/test/TestIntegralImageSquared.cpp b/modules/cudalegacy/test/TestIntegralImageSquared.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestIntegralImageSquared.cpp
rename to modules/cudalegacy/test/TestIntegralImageSquared.cpp
diff --git a/modules/gpulegacy/test/TestIntegralImageSquared.h b/modules/cudalegacy/test/TestIntegralImageSquared.h
similarity index 100%
rename from modules/gpulegacy/test/TestIntegralImageSquared.h
rename to modules/cudalegacy/test/TestIntegralImageSquared.h
diff --git a/modules/gpulegacy/test/TestRectStdDev.cpp b/modules/cudalegacy/test/TestRectStdDev.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestRectStdDev.cpp
rename to modules/cudalegacy/test/TestRectStdDev.cpp
diff --git a/modules/gpulegacy/test/TestRectStdDev.h b/modules/cudalegacy/test/TestRectStdDev.h
similarity index 100%
rename from modules/gpulegacy/test/TestRectStdDev.h
rename to modules/cudalegacy/test/TestRectStdDev.h
diff --git a/modules/gpulegacy/test/TestResize.cpp b/modules/cudalegacy/test/TestResize.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestResize.cpp
rename to modules/cudalegacy/test/TestResize.cpp
diff --git a/modules/gpulegacy/test/TestResize.h b/modules/cudalegacy/test/TestResize.h
similarity index 100%
rename from modules/gpulegacy/test/TestResize.h
rename to modules/cudalegacy/test/TestResize.h
diff --git a/modules/gpulegacy/test/TestTranspose.cpp b/modules/cudalegacy/test/TestTranspose.cpp
similarity index 100%
rename from modules/gpulegacy/test/TestTranspose.cpp
rename to modules/cudalegacy/test/TestTranspose.cpp
diff --git a/modules/gpulegacy/test/TestTranspose.h b/modules/cudalegacy/test/TestTranspose.h
similarity index 100%
rename from modules/gpulegacy/test/TestTranspose.h
rename to modules/cudalegacy/test/TestTranspose.h
diff --git a/modules/gpulegacy/test/main_nvidia.cpp b/modules/cudalegacy/test/main_nvidia.cpp
similarity index 100%
rename from modules/gpulegacy/test/main_nvidia.cpp
rename to modules/cudalegacy/test/main_nvidia.cpp
diff --git a/modules/gpulegacy/test/main_test_nvidia.h b/modules/cudalegacy/test/main_test_nvidia.h
similarity index 100%
rename from modules/gpulegacy/test/main_test_nvidia.h
rename to modules/cudalegacy/test/main_test_nvidia.h
diff --git a/modules/gpulegacy/test/test_main.cpp b/modules/cudalegacy/test/test_main.cpp
similarity index 100%
rename from modules/gpulegacy/test/test_main.cpp
rename to modules/cudalegacy/test/test_main.cpp
diff --git a/modules/gpulegacy/test/test_nvidia.cpp b/modules/cudalegacy/test/test_nvidia.cpp
similarity index 100%
rename from modules/gpulegacy/test/test_nvidia.cpp
rename to modules/cudalegacy/test/test_nvidia.cpp
diff --git a/modules/gpulegacy/test/test_precomp.cpp b/modules/cudalegacy/test/test_precomp.cpp
similarity index 100%
rename from modules/gpulegacy/test/test_precomp.cpp
rename to modules/cudalegacy/test/test_precomp.cpp
diff --git a/modules/gpulegacy/test/test_precomp.hpp b/modules/cudalegacy/test/test_precomp.hpp
similarity index 99%
rename from modules/gpulegacy/test/test_precomp.hpp
rename to modules/cudalegacy/test/test_precomp.hpp
index 197e79ad5a..fbc25b7211 100644
--- a/modules/gpulegacy/test/test_precomp.hpp
+++ b/modules/cudalegacy/test/test_precomp.hpp
@@ -69,7 +69,7 @@
 #include "opencv2/ts/gpu_test.hpp"
 
 #include "opencv2/core/cuda.hpp"
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/highgui.hpp"
 
 #include "opencv2/core/private.cuda.hpp"
diff --git a/modules/gpu/CMakeLists.txt b/modules/gpu/CMakeLists.txt
index 9a71b68cc6..351608b697 100644
--- a/modules/gpu/CMakeLists.txt
+++ b/modules/gpu/CMakeLists.txt
@@ -6,4 +6,4 @@ set(the_description "GPU-accelerated Computer Vision")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter)
 
-ocv_define_module(gpu opencv_calib3d opencv_objdetect opencv_gpuarithm opencv_gpuwarping OPTIONAL opencv_gpulegacy)
+ocv_define_module(gpu opencv_calib3d opencv_objdetect opencv_gpuarithm opencv_gpuwarping OPTIONAL opencv_cudalegacy)
diff --git a/modules/gpu/src/cascadeclassifier.cpp b/modules/gpu/src/cascadeclassifier.cpp
index 25464b536f..144ecf303c 100644
--- a/modules/gpu/src/cascadeclassifier.cpp
+++ b/modules/gpu/src/cascadeclassifier.cpp
@@ -73,7 +73,7 @@ public:
     virtual bool read(const String& classifierAsXml) = 0;
 };
 
-#ifndef HAVE_OPENCV_GPULEGACY
+#ifndef HAVE_OPENCV_CUDALEGACY
 
 struct cv::cuda::CascadeClassifier_GPU::HaarCascade : cv::cuda::CascadeClassifier_GPU::CascadeClassifierImpl
 {
@@ -509,7 +509,7 @@ private:
 
             integral.create(frame.height + 1, integralFactor * (frame.width + 1), CV_32SC1);
 
-#ifdef HAVE_OPENCV_GPULEGACY
+#ifdef HAVE_OPENCV_CUDALEGACY
             NcvSize32u roiSize;
             roiSize.width = frame.width;
             roiSize.height = frame.height;
diff --git a/modules/gpu/src/precomp.hpp b/modules/gpu/src/precomp.hpp
index 19a4d4ed3d..d7101caa16 100644
--- a/modules/gpu/src/precomp.hpp
+++ b/modules/gpu/src/precomp.hpp
@@ -53,8 +53,8 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#ifdef HAVE_OPENCV_GPULEGACY
-#  include "opencv2/gpulegacy/private.hpp"
+#ifdef HAVE_OPENCV_CUDALEGACY
+#  include "opencv2/cudalegacy/private.hpp"
 #endif
 
 #endif /* __OPENCV_PRECOMP_H__ */
diff --git a/modules/gpuarithm/CMakeLists.txt b/modules/gpuarithm/CMakeLists.txt
index 7cd9a458b9..091e3ecd47 100644
--- a/modules/gpuarithm/CMakeLists.txt
+++ b/modules/gpuarithm/CMakeLists.txt
@@ -6,7 +6,7 @@ set(the_description "GPU-accelerated Operations on Matrices")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations)
 
-ocv_add_module(gpuarithm opencv_core OPTIONAL opencv_gpulegacy)
+ocv_add_module(gpuarithm opencv_core OPTIONAL opencv_cudalegacy)
 
 ocv_module_include_directories()
 ocv_glob_module_sources()
diff --git a/modules/gpuarithm/src/precomp.hpp b/modules/gpuarithm/src/precomp.hpp
index 153a9a5f99..04a3458f17 100644
--- a/modules/gpuarithm/src/precomp.hpp
+++ b/modules/gpuarithm/src/precomp.hpp
@@ -54,9 +54,9 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#ifdef HAVE_OPENCV_GPULEGACY
-#  include "opencv2/gpulegacy.hpp"
-#  include "opencv2/gpulegacy/private.hpp"
+#ifdef HAVE_OPENCV_CUDALEGACY
+#  include "opencv2/cudalegacy.hpp"
+#  include "opencv2/cudalegacy/private.hpp"
 #endif
 
 #ifdef HAVE_CUBLAS
diff --git a/modules/gpuarithm/src/reductions.cpp b/modules/gpuarithm/src/reductions.cpp
index 683a766f65..9dd5817d99 100644
--- a/modules/gpuarithm/src/reductions.cpp
+++ b/modules/gpuarithm/src/reductions.cpp
@@ -790,7 +790,7 @@ void cv::cuda::integral(InputArray _src, OutputArray _dst, GpuMat& buffer, Strea
     }
     else
     {
-    #ifndef HAVE_OPENCV_GPULEGACY
+    #ifndef HAVE_OPENCV_CUDALEGACY
         throw_no_cuda();
     #else
         _dst.create(src.rows + 1, src.cols + 1, CV_32SC1);
@@ -823,7 +823,7 @@ void cv::cuda::integral(InputArray _src, OutputArray _dst, GpuMat& buffer, Strea
 
 void cv::cuda::sqrIntegral(InputArray _src, OutputArray _dst, GpuMat& buf, Stream& _stream)
 {
-#ifndef HAVE_OPENCV_GPULEGACY
+#ifndef HAVE_OPENCV_CUDALEGACY
     (void) _src;
     (void) _dst;
     (void) _stream;
diff --git a/modules/gpulegacy/CMakeLists.txt b/modules/gpulegacy/CMakeLists.txt
deleted file mode 100644
index 1a679d821c..0000000000
--- a/modules/gpulegacy/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-if(NOT HAVE_CUDA)
-  ocv_module_disable(gpulegacy)
-endif()
-
-set(the_description "GPU-accelerated Computer Vision (legacy)")
-
-ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized)
-
-ocv_define_module(gpulegacy opencv_core OPTIONAL opencv_objdetect)
diff --git a/modules/gpuoptflow/CMakeLists.txt b/modules/gpuoptflow/CMakeLists.txt
index 283891bb0f..e230c06bab 100644
--- a/modules/gpuoptflow/CMakeLists.txt
+++ b/modules/gpuoptflow/CMakeLists.txt
@@ -6,4 +6,4 @@ set(the_description "GPU-accelerated Optical Flow")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations)
 
-ocv_define_module(gpuoptflow opencv_video opencv_legacy opencv_gpuarithm opencv_gpuwarping opencv_gpuimgproc OPTIONAL opencv_gpulegacy)
+ocv_define_module(gpuoptflow opencv_video opencv_legacy opencv_gpuarithm opencv_gpuwarping opencv_gpuimgproc OPTIONAL opencv_cudalegacy)
diff --git a/modules/gpuoptflow/src/brox.cpp b/modules/gpuoptflow/src/brox.cpp
index da0ffd4aa1..39eae9a8ab 100644
--- a/modules/gpuoptflow/src/brox.cpp
+++ b/modules/gpuoptflow/src/brox.cpp
@@ -45,7 +45,7 @@
 using namespace cv;
 using namespace cv::cuda;
 
-#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_GPULEGACY) || defined (CUDA_DISABLER)
+#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_CUDALEGACY) || defined (CUDA_DISABLER)
 
 void cv::cuda::BroxOpticalFlow::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
 
diff --git a/modules/gpuoptflow/src/interpolate_frames.cpp b/modules/gpuoptflow/src/interpolate_frames.cpp
index 57de79ba65..5cb7ea8f59 100644
--- a/modules/gpuoptflow/src/interpolate_frames.cpp
+++ b/modules/gpuoptflow/src/interpolate_frames.cpp
@@ -45,7 +45,7 @@
 using namespace cv;
 using namespace cv::cuda;
 
-#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_GPULEGACY) || defined (CUDA_DISABLER)
+#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_CUDALEGACY) || defined (CUDA_DISABLER)
 
 void cv::cuda::interpolateFrames(const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, float, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
 
diff --git a/modules/gpuoptflow/src/precomp.hpp b/modules/gpuoptflow/src/precomp.hpp
index ce9234a5cc..822a980bee 100644
--- a/modules/gpuoptflow/src/precomp.hpp
+++ b/modules/gpuoptflow/src/precomp.hpp
@@ -55,8 +55,8 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#ifdef HAVE_OPENCV_GPULEGACY
-#  include "opencv2/gpulegacy/private.hpp"
+#ifdef HAVE_OPENCV_CUDALEGACY
+#  include "opencv2/cudalegacy/private.hpp"
 #endif
 
 #endif /* __OPENCV_PRECOMP_H__ */
diff --git a/modules/gpuwarping/CMakeLists.txt b/modules/gpuwarping/CMakeLists.txt
index 0c4ca7b12e..2fd74ab4d8 100644
--- a/modules/gpuwarping/CMakeLists.txt
+++ b/modules/gpuwarping/CMakeLists.txt
@@ -6,4 +6,4 @@ set(the_description "GPU-accelerated Image Warping")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations)
 
-ocv_define_module(gpuwarping opencv_imgproc OPTIONAL opencv_gpulegacy)
+ocv_define_module(gpuwarping opencv_imgproc OPTIONAL opencv_cudalegacy)
diff --git a/modules/gpuwarping/src/precomp.hpp b/modules/gpuwarping/src/precomp.hpp
index 78b8fd295f..d2e6471136 100644
--- a/modules/gpuwarping/src/precomp.hpp
+++ b/modules/gpuwarping/src/precomp.hpp
@@ -49,9 +49,9 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#ifdef HAVE_OPENCV_GPULEGACY
-#  include "opencv2/gpulegacy.hpp"
-#  include "opencv2/gpulegacy/private.hpp"
+#ifdef HAVE_OPENCV_CUDALEGACY
+#  include "opencv2/cudalegacy.hpp"
+#  include "opencv2/cudalegacy/private.hpp"
 #endif
 
 #endif /* __OPENCV_PRECOMP_H__ */
diff --git a/modules/gpuwarping/src/pyramids.cpp b/modules/gpuwarping/src/pyramids.cpp
index 29b776139e..5f37c392b7 100644
--- a/modules/gpuwarping/src/pyramids.cpp
+++ b/modules/gpuwarping/src/pyramids.cpp
@@ -136,7 +136,7 @@ void cv::cuda::pyrUp(InputArray _src, OutputArray _dst, Stream& stream)
 //////////////////////////////////////////////////////////////////////////////
 // ImagePyramid
 
-#ifdef HAVE_OPENCV_GPULEGACY
+#ifdef HAVE_OPENCV_CUDALEGACY
 
 namespace
 {
@@ -230,7 +230,7 @@ namespace
 
 Ptr<ImagePyramid> cv::cuda::createImagePyramid(InputArray img, int nLayers, Stream& stream)
 {
-#ifndef HAVE_OPENCV_GPULEGACY
+#ifndef HAVE_OPENCV_CUDALEGACY
     (void) img;
     (void) numLayers;
     (void) stream;
diff --git a/samples/gpu/CMakeLists.txt b/samples/gpu/CMakeLists.txt
index a532d44f67..d6e24c6dd7 100644
--- a/samples/gpu/CMakeLists.txt
+++ b/samples/gpu/CMakeLists.txt
@@ -4,7 +4,8 @@ SET(OPENCV_GPU_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc ope
                                      opencv_nonfree opencv_softcascade opencv_superres
                                      opencv_gpuarithm opencv_gpufilters opencv_gpuwarping opencv_gpuimgproc
                                      opencv_gpufeatures2d opencv_gpuoptflow opencv_gpubgsegm
-                                     opencv_gpustereo opencv_gpulegacy)
+                                     opencv_gpustereo opencv_cudalegacy)
+
 ocv_check_dependencies(${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})
 
 if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
@@ -96,3 +97,4 @@ if (INSTALL_C_EXAMPLES AND NOT WIN32)
           DESTINATION share/OpenCV/samples/${project}
           PERMISSIONS OWNER_READ GROUP_READ WORLD_READ)
 endif()
+
diff --git a/samples/gpu/cascadeclassifier_nvidia_api.cpp b/samples/gpu/cascadeclassifier_nvidia_api.cpp
index e66fcec45b..ec1fc616db 100644
--- a/samples/gpu/cascadeclassifier_nvidia_api.cpp
+++ b/samples/gpu/cascadeclassifier_nvidia_api.cpp
@@ -7,7 +7,7 @@
 #include <iomanip>
 #include <cstdio>
 #include "opencv2/core/cuda.hpp"
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/objdetect.hpp"
diff --git a/samples/gpu/opticalflow_nvidia_api.cpp b/samples/gpu/opticalflow_nvidia_api.cpp
index ebaba76140..29aaa06456 100644
--- a/samples/gpu/opticalflow_nvidia_api.cpp
+++ b/samples/gpu/opticalflow_nvidia_api.cpp
@@ -12,7 +12,7 @@
 #include <iostream>
 #include <iomanip>
 #include "opencv2/core/cuda.hpp"
-#include "opencv2/gpulegacy.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/highgui/highgui_c.h"