diff --git a/modules/cudastereo/CMakeLists.txt b/modules/cudastereo/CMakeLists.txt
new file mode 100644
index 000000000..bf485ea50
--- /dev/null
+++ b/modules/cudastereo/CMakeLists.txt
@@ -0,0 +1,9 @@
+if(ANDROID OR IOS)
+  ocv_module_disable(cudastereo)
+endif()
+
+set(the_description "CUDA-accelerated Stereo Correspondence")
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations)
+
+ocv_define_module(cudastereo opencv_calib3d)
diff --git a/modules/gpustereo/doc/gpustereo.rst b/modules/cudastereo/doc/cudastereo.rst
similarity index 100%
rename from modules/gpustereo/doc/gpustereo.rst
rename to modules/cudastereo/doc/cudastereo.rst
diff --git a/modules/gpustereo/doc/stereo.rst b/modules/cudastereo/doc/stereo.rst
similarity index 100%
rename from modules/gpustereo/doc/stereo.rst
rename to modules/cudastereo/doc/stereo.rst
diff --git a/modules/gpustereo/include/opencv2/gpustereo.hpp b/modules/cudastereo/include/opencv2/cudastereo.hpp
similarity index 97%
rename from modules/gpustereo/include/opencv2/gpustereo.hpp
rename to modules/cudastereo/include/opencv2/cudastereo.hpp
index be0332ea1..a58156c43 100644
--- a/modules/gpustereo/include/opencv2/gpustereo.hpp
+++ b/modules/cudastereo/include/opencv2/cudastereo.hpp
@@ -40,11 +40,11 @@
 //
 //M*/
 
-#ifndef __OPENCV_GPUSTEREO_HPP__
-#define __OPENCV_GPUSTEREO_HPP__
+#ifndef __OPENCV_CUDASTEREO_HPP__
+#define __OPENCV_CUDASTEREO_HPP__
 
 #ifndef __cplusplus
-#  error gpustereo.hpp header must be compiled as C++
+#  error cudastereo.hpp header must be compiled as C++
 #endif
 
 #include "opencv2/core/cuda.hpp"
@@ -190,4 +190,4 @@ CV_EXPORTS void drawColorDisp(InputArray src_disp, OutputArray dst_disp, int ndi
 
 }} // namespace cv { namespace cuda {
 
-#endif /* __OPENCV_GPUSTEREO_HPP__ */
+#endif /* __OPENCV_CUDASTEREO_HPP__ */
diff --git a/modules/gpustereo/perf/perf_main.cpp b/modules/cudastereo/perf/perf_main.cpp
similarity index 98%
rename from modules/gpustereo/perf/perf_main.cpp
rename to modules/cudastereo/perf/perf_main.cpp
index 0766ccf05..3cf84eb78 100644
--- a/modules/gpustereo/perf/perf_main.cpp
+++ b/modules/cudastereo/perf/perf_main.cpp
@@ -44,4 +44,4 @@
 
 using namespace perf;
 
-CV_PERF_TEST_CUDA_MAIN(gpustereo)
+CV_PERF_TEST_CUDA_MAIN(cudastereo)
diff --git a/modules/gpustereo/perf/perf_precomp.cpp b/modules/cudastereo/perf/perf_precomp.cpp
similarity index 100%
rename from modules/gpustereo/perf/perf_precomp.cpp
rename to modules/cudastereo/perf/perf_precomp.cpp
diff --git a/modules/gpustereo/perf/perf_precomp.hpp b/modules/cudastereo/perf/perf_precomp.hpp
similarity index 98%
rename from modules/gpustereo/perf/perf_precomp.hpp
rename to modules/cudastereo/perf/perf_precomp.hpp
index f61de9fae..3f51e3c21 100644
--- a/modules/gpustereo/perf/perf_precomp.hpp
+++ b/modules/cudastereo/perf/perf_precomp.hpp
@@ -54,7 +54,7 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/ts/gpu_perf.hpp"
 
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 #include "opencv2/calib3d.hpp"
 
 #ifdef GTEST_CREATE_SHARED_LIBRARY
diff --git a/modules/gpustereo/perf/perf_stereo.cpp b/modules/cudastereo/perf/perf_stereo.cpp
similarity index 100%
rename from modules/gpustereo/perf/perf_stereo.cpp
rename to modules/cudastereo/perf/perf_stereo.cpp
diff --git a/modules/gpustereo/src/cuda/disparity_bilateral_filter.cu b/modules/cudastereo/src/cuda/disparity_bilateral_filter.cu
similarity index 100%
rename from modules/gpustereo/src/cuda/disparity_bilateral_filter.cu
rename to modules/cudastereo/src/cuda/disparity_bilateral_filter.cu
diff --git a/modules/gpustereo/src/cuda/stereobm.cu b/modules/cudastereo/src/cuda/stereobm.cu
similarity index 100%
rename from modules/gpustereo/src/cuda/stereobm.cu
rename to modules/cudastereo/src/cuda/stereobm.cu
diff --git a/modules/gpustereo/src/cuda/stereobp.cu b/modules/cudastereo/src/cuda/stereobp.cu
similarity index 100%
rename from modules/gpustereo/src/cuda/stereobp.cu
rename to modules/cudastereo/src/cuda/stereobp.cu
diff --git a/modules/gpustereo/src/cuda/stereocsbp.cu b/modules/cudastereo/src/cuda/stereocsbp.cu
similarity index 100%
rename from modules/gpustereo/src/cuda/stereocsbp.cu
rename to modules/cudastereo/src/cuda/stereocsbp.cu
diff --git a/modules/gpustereo/src/cuda/util.cu b/modules/cudastereo/src/cuda/util.cu
similarity index 100%
rename from modules/gpustereo/src/cuda/util.cu
rename to modules/cudastereo/src/cuda/util.cu
diff --git a/modules/gpustereo/src/disparity_bilateral_filter.cpp b/modules/cudastereo/src/disparity_bilateral_filter.cpp
similarity index 100%
rename from modules/gpustereo/src/disparity_bilateral_filter.cpp
rename to modules/cudastereo/src/disparity_bilateral_filter.cpp
diff --git a/modules/gpustereo/src/precomp.cpp b/modules/cudastereo/src/precomp.cpp
similarity index 100%
rename from modules/gpustereo/src/precomp.cpp
rename to modules/cudastereo/src/precomp.cpp
diff --git a/modules/gpustereo/src/precomp.hpp b/modules/cudastereo/src/precomp.hpp
similarity index 98%
rename from modules/gpustereo/src/precomp.hpp
rename to modules/cudastereo/src/precomp.hpp
index 70dd63777..bdd0738e7 100644
--- a/modules/gpustereo/src/precomp.hpp
+++ b/modules/cudastereo/src/precomp.hpp
@@ -45,7 +45,7 @@
 
 #include <limits>
 
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 
 #include "opencv2/core/private.cuda.hpp"
 #include "opencv2/core/utility.hpp"
diff --git a/modules/gpustereo/src/stereobm.cpp b/modules/cudastereo/src/stereobm.cpp
similarity index 100%
rename from modules/gpustereo/src/stereobm.cpp
rename to modules/cudastereo/src/stereobm.cpp
diff --git a/modules/gpustereo/src/stereobp.cpp b/modules/cudastereo/src/stereobp.cpp
similarity index 100%
rename from modules/gpustereo/src/stereobp.cpp
rename to modules/cudastereo/src/stereobp.cpp
diff --git a/modules/gpustereo/src/stereocsbp.cpp b/modules/cudastereo/src/stereocsbp.cpp
similarity index 100%
rename from modules/gpustereo/src/stereocsbp.cpp
rename to modules/cudastereo/src/stereocsbp.cpp
diff --git a/modules/gpustereo/src/util.cpp b/modules/cudastereo/src/util.cpp
similarity index 100%
rename from modules/gpustereo/src/util.cpp
rename to modules/cudastereo/src/util.cpp
diff --git a/modules/gpustereo/test/test_main.cpp b/modules/cudastereo/test/test_main.cpp
similarity index 100%
rename from modules/gpustereo/test/test_main.cpp
rename to modules/cudastereo/test/test_main.cpp
diff --git a/modules/gpustereo/test/test_precomp.cpp b/modules/cudastereo/test/test_precomp.cpp
similarity index 100%
rename from modules/gpustereo/test/test_precomp.cpp
rename to modules/cudastereo/test/test_precomp.cpp
diff --git a/modules/gpustereo/test/test_precomp.hpp b/modules/cudastereo/test/test_precomp.hpp
similarity index 98%
rename from modules/gpustereo/test/test_precomp.hpp
rename to modules/cudastereo/test/test_precomp.hpp
index eb34fcb56..4a629f328 100644
--- a/modules/gpustereo/test/test_precomp.hpp
+++ b/modules/cudastereo/test/test_precomp.hpp
@@ -54,7 +54,7 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/ts/gpu_test.hpp"
 
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 #include "opencv2/calib3d.hpp"
 
 #include "cvconfig.h"
diff --git a/modules/gpustereo/test/test_stereo.cpp b/modules/cudastereo/test/test_stereo.cpp
similarity index 100%
rename from modules/gpustereo/test/test_stereo.cpp
rename to modules/cudastereo/test/test_stereo.cpp
diff --git a/modules/gpustereo/CMakeLists.txt b/modules/gpustereo/CMakeLists.txt
deleted file mode 100644
index c2a302c8a..000000000
--- a/modules/gpustereo/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-if(ANDROID OR IOS)
-  ocv_module_disable(gpustereo)
-endif()
-
-set(the_description "GPU-accelerated Stereo Correspondence")
-
-ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations)
-
-ocv_define_module(gpustereo opencv_calib3d)
diff --git a/samples/gpu/CMakeLists.txt b/samples/gpu/CMakeLists.txt
index 1f23fb693..66aa9d775 100644
--- a/samples/gpu/CMakeLists.txt
+++ b/samples/gpu/CMakeLists.txt
@@ -4,7 +4,7 @@ SET(OPENCV_GPU_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc ope
                                      opencv_nonfree opencv_softcascade opencv_superres
                                      opencv_cudaarithm opencv_gpufilters opencv_cudawarping opencv_gpuimgproc
                                      opencv_gpufeatures2d opencv_gpuoptflow opencv_gpubgsegm
-                                     opencv_gpustereo opencv_cudalegacy)
+                                     opencv_cudastereo opencv_cudalegacy)
 
 ocv_check_dependencies(${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})
 
diff --git a/samples/gpu/driver_api_stereo_multi.cpp b/samples/gpu/driver_api_stereo_multi.cpp
index 546ac18dd..a3e6e996b 100644
--- a/samples/gpu/driver_api_stereo_multi.cpp
+++ b/samples/gpu/driver_api_stereo_multi.cpp
@@ -11,7 +11,7 @@
 #include "cvconfig.h"
 #include "opencv2/core/core.hpp"
 #include "opencv2/highgui/highgui.hpp"
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 
 #ifdef HAVE_TBB
 #  include "tbb/tbb_stddef.h"
diff --git a/samples/gpu/stereo_match.cpp b/samples/gpu/stereo_match.cpp
index fc7d092aa..012fda108 100644
--- a/samples/gpu/stereo_match.cpp
+++ b/samples/gpu/stereo_match.cpp
@@ -4,7 +4,7 @@
 #include <iomanip>
 #include <stdexcept>
 #include <opencv2/core/utility.hpp>
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 
diff --git a/samples/gpu/stereo_multi.cpp b/samples/gpu/stereo_multi.cpp
index 2d410d3a8..aed3d164b 100644
--- a/samples/gpu/stereo_multi.cpp
+++ b/samples/gpu/stereo_multi.cpp
@@ -11,7 +11,7 @@
 #include "cvconfig.h"
 #include "opencv2/core.hpp"
 #include "opencv2/highgui.hpp"
-#include "opencv2/gpustereo.hpp"
+#include "opencv2/cudastereo.hpp"
 
 #ifdef HAVE_TBB
 #  include "tbb/tbb_stddef.h"