diff --git a/modules/cudafeatures2d/CMakeLists.txt b/modules/cudafeatures2d/CMakeLists.txt
new file mode 100644
index 000000000..9bca959f3
--- /dev/null
+++ b/modules/cudafeatures2d/CMakeLists.txt
@@ -0,0 +1,9 @@
+if(ANDROID OR IOS)
+  ocv_module_disable(cudafeatures2d)
+endif()
+
+set(the_description "CUDA-accelerated Feature Detection and Description")
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter)
+
+ocv_define_module(cudafeatures2d opencv_features2d opencv_cudafilters opencv_cudawarping)
diff --git a/modules/gpufeatures2d/doc/gpufeatures2d.rst b/modules/cudafeatures2d/doc/cudafeatures2d.rst
similarity index 100%
rename from modules/gpufeatures2d/doc/gpufeatures2d.rst
rename to modules/cudafeatures2d/doc/cudafeatures2d.rst
diff --git a/modules/gpufeatures2d/doc/feature_detection_and_description.rst b/modules/cudafeatures2d/doc/feature_detection_and_description.rst
similarity index 100%
rename from modules/gpufeatures2d/doc/feature_detection_and_description.rst
rename to modules/cudafeatures2d/doc/feature_detection_and_description.rst
diff --git a/modules/gpufeatures2d/include/opencv2/gpufeatures2d.hpp b/modules/cudafeatures2d/include/opencv2/cudafeatures2d.hpp
similarity index 98%
rename from modules/gpufeatures2d/include/opencv2/gpufeatures2d.hpp
rename to modules/cudafeatures2d/include/opencv2/cudafeatures2d.hpp
index 6cd0bedce..16af28c4d 100644
--- a/modules/gpufeatures2d/include/opencv2/gpufeatures2d.hpp
+++ b/modules/cudafeatures2d/include/opencv2/cudafeatures2d.hpp
@@ -40,11 +40,11 @@
 //
 //M*/
 
-#ifndef __OPENCV_GPUFEATURES2D_HPP__
-#define __OPENCV_GPUFEATURES2D_HPP__
+#ifndef __OPENCV_CUDAFEATURES2D_HPP__
+#define __OPENCV_CUDAFEATURES2D_HPP__
 
 #ifndef __cplusplus
-#  error gpufeatures2d.hpp header must be compiled as C++
+#  error cudafeatures2d.hpp header must be compiled as C++
 #endif
 
 #include "opencv2/core/cuda.hpp"
@@ -358,4 +358,4 @@ private:
 
 }} // namespace cv { namespace cuda {
 
-#endif /* __OPENCV_GPUFEATURES2D_HPP__ */
+#endif /* __OPENCV_CUDAFEATURES2D_HPP__ */
diff --git a/modules/gpufeatures2d/perf/perf_features2d.cpp b/modules/cudafeatures2d/perf/perf_features2d.cpp
similarity index 100%
rename from modules/gpufeatures2d/perf/perf_features2d.cpp
rename to modules/cudafeatures2d/perf/perf_features2d.cpp
diff --git a/modules/gpufeatures2d/perf/perf_main.cpp b/modules/cudafeatures2d/perf/perf_main.cpp
similarity index 98%
rename from modules/gpufeatures2d/perf/perf_main.cpp
rename to modules/cudafeatures2d/perf/perf_main.cpp
index 5e7fb1b8b..07b891703 100644
--- a/modules/gpufeatures2d/perf/perf_main.cpp
+++ b/modules/cudafeatures2d/perf/perf_main.cpp
@@ -44,4 +44,4 @@
 
 using namespace perf;
 
-CV_PERF_TEST_CUDA_MAIN(gpufeatures2d)
+CV_PERF_TEST_CUDA_MAIN(cudafeatures2d)
diff --git a/modules/gpufeatures2d/perf/perf_precomp.cpp b/modules/cudafeatures2d/perf/perf_precomp.cpp
similarity index 100%
rename from modules/gpufeatures2d/perf/perf_precomp.cpp
rename to modules/cudafeatures2d/perf/perf_precomp.cpp
diff --git a/modules/gpufeatures2d/perf/perf_precomp.hpp b/modules/cudafeatures2d/perf/perf_precomp.hpp
similarity index 98%
rename from modules/gpufeatures2d/perf/perf_precomp.hpp
rename to modules/cudafeatures2d/perf/perf_precomp.hpp
index 4f767c4fb..1ec469013 100644
--- a/modules/gpufeatures2d/perf/perf_precomp.hpp
+++ b/modules/cudafeatures2d/perf/perf_precomp.hpp
@@ -54,7 +54,7 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/ts/gpu_perf.hpp"
 
-#include "opencv2/gpufeatures2d.hpp"
+#include "opencv2/cudafeatures2d.hpp"
 #include "opencv2/features2d.hpp"
 
 #ifdef GTEST_CREATE_SHARED_LIBRARY
diff --git a/modules/gpufeatures2d/src/brute_force_matcher.cpp b/modules/cudafeatures2d/src/brute_force_matcher.cpp
similarity index 100%
rename from modules/gpufeatures2d/src/brute_force_matcher.cpp
rename to modules/cudafeatures2d/src/brute_force_matcher.cpp
diff --git a/modules/gpufeatures2d/src/cuda/bf_knnmatch.cu b/modules/cudafeatures2d/src/cuda/bf_knnmatch.cu
similarity index 100%
rename from modules/gpufeatures2d/src/cuda/bf_knnmatch.cu
rename to modules/cudafeatures2d/src/cuda/bf_knnmatch.cu
diff --git a/modules/gpufeatures2d/src/cuda/bf_match.cu b/modules/cudafeatures2d/src/cuda/bf_match.cu
similarity index 100%
rename from modules/gpufeatures2d/src/cuda/bf_match.cu
rename to modules/cudafeatures2d/src/cuda/bf_match.cu
diff --git a/modules/gpufeatures2d/src/cuda/bf_radius_match.cu b/modules/cudafeatures2d/src/cuda/bf_radius_match.cu
similarity index 100%
rename from modules/gpufeatures2d/src/cuda/bf_radius_match.cu
rename to modules/cudafeatures2d/src/cuda/bf_radius_match.cu
diff --git a/modules/gpufeatures2d/src/cuda/fast.cu b/modules/cudafeatures2d/src/cuda/fast.cu
similarity index 100%
rename from modules/gpufeatures2d/src/cuda/fast.cu
rename to modules/cudafeatures2d/src/cuda/fast.cu
diff --git a/modules/gpufeatures2d/src/cuda/orb.cu b/modules/cudafeatures2d/src/cuda/orb.cu
similarity index 100%
rename from modules/gpufeatures2d/src/cuda/orb.cu
rename to modules/cudafeatures2d/src/cuda/orb.cu
diff --git a/modules/gpufeatures2d/src/fast.cpp b/modules/cudafeatures2d/src/fast.cpp
similarity index 100%
rename from modules/gpufeatures2d/src/fast.cpp
rename to modules/cudafeatures2d/src/fast.cpp
diff --git a/modules/gpufeatures2d/src/orb.cpp b/modules/cudafeatures2d/src/orb.cpp
similarity index 100%
rename from modules/gpufeatures2d/src/orb.cpp
rename to modules/cudafeatures2d/src/orb.cpp
diff --git a/modules/gpufeatures2d/src/precomp.cpp b/modules/cudafeatures2d/src/precomp.cpp
similarity index 100%
rename from modules/gpufeatures2d/src/precomp.cpp
rename to modules/cudafeatures2d/src/precomp.cpp
diff --git a/modules/gpufeatures2d/src/precomp.hpp b/modules/cudafeatures2d/src/precomp.hpp
similarity index 98%
rename from modules/gpufeatures2d/src/precomp.hpp
rename to modules/cudafeatures2d/src/precomp.hpp
index 9aedd2bd7..da64ba4a1 100644
--- a/modules/gpufeatures2d/src/precomp.hpp
+++ b/modules/cudafeatures2d/src/precomp.hpp
@@ -47,7 +47,7 @@
 #include <functional>
 #include <iterator>
 
-#include "opencv2/gpufeatures2d.hpp"
+#include "opencv2/cudafeatures2d.hpp"
 #include "opencv2/cudaarithm.hpp"
 #include "opencv2/cudawarping.hpp"
 #include "opencv2/features2d.hpp"
diff --git a/modules/gpufeatures2d/test/test_features2d.cpp b/modules/cudafeatures2d/test/test_features2d.cpp
similarity index 100%
rename from modules/gpufeatures2d/test/test_features2d.cpp
rename to modules/cudafeatures2d/test/test_features2d.cpp
diff --git a/modules/gpufeatures2d/test/test_main.cpp b/modules/cudafeatures2d/test/test_main.cpp
similarity index 100%
rename from modules/gpufeatures2d/test/test_main.cpp
rename to modules/cudafeatures2d/test/test_main.cpp
diff --git a/modules/gpufeatures2d/test/test_precomp.cpp b/modules/cudafeatures2d/test/test_precomp.cpp
similarity index 100%
rename from modules/gpufeatures2d/test/test_precomp.cpp
rename to modules/cudafeatures2d/test/test_precomp.cpp
diff --git a/modules/gpufeatures2d/test/test_precomp.hpp b/modules/cudafeatures2d/test/test_precomp.hpp
similarity index 98%
rename from modules/gpufeatures2d/test/test_precomp.hpp
rename to modules/cudafeatures2d/test/test_precomp.hpp
index 4ce8f7849..4063b8fea 100644
--- a/modules/gpufeatures2d/test/test_precomp.hpp
+++ b/modules/cudafeatures2d/test/test_precomp.hpp
@@ -54,7 +54,7 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/ts/gpu_test.hpp"
 
-#include "opencv2/gpufeatures2d.hpp"
+#include "opencv2/cudafeatures2d.hpp"
 #include "opencv2/features2d.hpp"
 
 #include "cvconfig.h"
diff --git a/modules/gpufeatures2d/CMakeLists.txt b/modules/gpufeatures2d/CMakeLists.txt
deleted file mode 100644
index c4e57a4a9..000000000
--- a/modules/gpufeatures2d/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-if(ANDROID OR IOS)
-  ocv_module_disable(gpufeatures2d)
-endif()
-
-set(the_description "GPU-accelerated Feature Detection and Description")
-
-ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter)
-
-ocv_define_module(gpufeatures2d opencv_features2d opencv_cudafilters opencv_cudawarping)
diff --git a/modules/stitching/CMakeLists.txt b/modules/stitching/CMakeLists.txt
index 9e9158a99..87ac5c325 100644
--- a/modules/stitching/CMakeLists.txt
+++ b/modules/stitching/CMakeLists.txt
@@ -1,3 +1,3 @@
 set(the_description "Images stitching")
 ocv_define_module(stitching opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect
-                  OPTIONAL opencv_gpu opencv_cudaarithm opencv_cudafilters opencv_gpufeatures2d opencv_nonfree)
+                  OPTIONAL opencv_gpu opencv_cudaarithm opencv_cudafilters opencv_cudafeatures2d opencv_nonfree)
diff --git a/modules/stitching/src/matchers.cpp b/modules/stitching/src/matchers.cpp
index aee004e8d..cf3cbd4b3 100644
--- a/modules/stitching/src/matchers.cpp
+++ b/modules/stitching/src/matchers.cpp
@@ -125,7 +125,7 @@ private:
     float match_conf_;
 };
 
-#ifdef HAVE_OPENCV_GPUFEATURES2D
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
 class GpuMatcher : public FeaturesMatcher
 {
 public:
@@ -200,7 +200,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
     LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
 }
 
-#ifdef HAVE_OPENCV_GPUFEATURES2D
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
 void GpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
 {
     matches_info.matches.clear();
@@ -531,7 +531,7 @@ BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf,
 {
     (void)try_use_gpu;
 
-#ifdef HAVE_OPENCV_GPUFEATURES2D
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
     if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
     {
         impl_ = new GpuMatcher(match_conf);
diff --git a/modules/stitching/src/precomp.hpp b/modules/stitching/src/precomp.hpp
index c23ede0c5..b18bcf456 100644
--- a/modules/stitching/src/precomp.hpp
+++ b/modules/stitching/src/precomp.hpp
@@ -76,8 +76,8 @@
 #  include "opencv2/cudawarping.hpp"
 #endif
 
-#ifdef HAVE_OPENCV_GPUFEATURES2D
-#  include "opencv2/gpufeatures2d.hpp"
+#ifdef HAVE_OPENCV_CUDAFEATURES2D
+#  include "opencv2/cudafeatures2d.hpp"
 #endif
 
 #ifdef HAVE_OPENCV_GPU
diff --git a/samples/gpu/CMakeLists.txt b/samples/gpu/CMakeLists.txt
index abf80565f..c74531b4d 100644
--- a/samples/gpu/CMakeLists.txt
+++ b/samples/gpu/CMakeLists.txt
@@ -3,7 +3,7 @@ SET(OPENCV_GPU_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc ope
                                      opencv_calib3d opencv_legacy opencv_contrib opencv_gpu
                                      opencv_nonfree opencv_softcascade opencv_superres
                                      opencv_cudaarithm opencv_cudafilters opencv_cudawarping opencv_cudaimgproc
-                                     opencv_gpufeatures2d opencv_cudaoptflow opencv_gpubgsegm
+                                     opencv_cudafeatures2d opencv_cudaoptflow opencv_gpubgsegm
                                      opencv_cudastereo opencv_cudalegacy)
 
 ocv_check_dependencies(${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})
diff --git a/samples/gpu/performance/tests.cpp b/samples/gpu/performance/tests.cpp
index 0498b07ea..70f3aaf9f 100644
--- a/samples/gpu/performance/tests.cpp
+++ b/samples/gpu/performance/tests.cpp
@@ -7,7 +7,7 @@
 #include "opencv2/cudaimgproc.hpp"
 #include "opencv2/cudaarithm.hpp"
 #include "opencv2/cudawarping.hpp"
-#include "opencv2/gpufeatures2d.hpp"
+#include "opencv2/cudafeatures2d.hpp"
 #include "opencv2/cudafilters.hpp"
 #include "opencv2/cudaoptflow.hpp"
 #include "opencv2/gpubgsegm.hpp"
diff --git a/samples/gpu/surf_keypoint_matcher.cpp b/samples/gpu/surf_keypoint_matcher.cpp
index a05bfe4b5..5e68b3fbd 100644
--- a/samples/gpu/surf_keypoint_matcher.cpp
+++ b/samples/gpu/surf_keypoint_matcher.cpp
@@ -7,7 +7,7 @@
 #include "opencv2/core/core.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/highgui/highgui.hpp"
-#include "opencv2/gpufeatures2d.hpp"
+#include "opencv2/cudafeatures2d.hpp"
 #include "opencv2/nonfree/gpu.hpp"
 
 using namespace std;