diff --git a/cmake/OpenCVDetectCUDA.cmake b/cmake/OpenCVDetectCUDA.cmake
index b4225490b..5d0079f31 100644
--- a/cmake/OpenCVDetectCUDA.cmake
+++ b/cmake/OpenCVDetectCUDA.cmake
@@ -13,7 +13,7 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Cl
   return()
 endif()
 
-find_package(CUDA 4.2 QUIET)
+find_host_package(CUDA 4.2 QUIET)
 
 if(CUDA_FOUND)
   set(HAVE_CUDA 1)
@@ -26,49 +26,188 @@ if(CUDA_FOUND)
     set(HAVE_CUBLAS 1)
   endif()
 
-  if(${CUDA_VERSION} VERSION_LESS "5.5")
-    find_cuda_helper_libs(npp)
+  ##############################################################################################
+  # Hack for CUDA >5.5 support
+  #
+  # The patch was submitted to CMake and might be available
+  # in the next CMake release.
+  #
+  # In the future we should check CMake version here, like
+  # if(CMAKE_VERSION VERSION_LESS "2.8.13")
+
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
+
+  if(NOT "${CUDA_TOOLKIT_ROOT_DIR}" STREQUAL "${OPENCV_CUDA_TOOLKIT_ROOT_DIR_INTERNAL}")
+    unset(CUDA_TOOLKIT_TARGET_DIR CACHE)
+  endif()
+
+  if(CUDA_VERSION VERSION_GREATER "5.0" AND CMAKE_CROSSCOMPILING AND ${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm" AND EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf")
+    set(CUDA_TOOLKIT_TARGET_DIR "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf" CACHE PATH "Toolkit target location.")
   else()
-    # hack for CUDA 5.5
-    if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "arm")
-      unset(CUDA_TOOLKIT_INCLUDE CACHE)
-      unset(CUDA_CUDART_LIBRARY CACHE)
-      unset(CUDA_cublas_LIBRARY CACHE)
-      unset(CUDA_cufft_LIBRARY CACHE)
-      unset(CUDA_npp_LIBRARY CACHE)
+    set(CUDA_TOOLKIT_TARGET_DIR "${CUDA_TOOLKIT_ROOT_DIR}" CACHE PATH "Toolkit target location.")
+  endif()
 
-      if(SOFTFP)
-        set(cuda_arm_path "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabi")
-      else()
-        set(cuda_arm_path "${CUDA_TOOLKIT_ROOT_DIR}/targets/armv7-linux-gnueabihf")
-      endif()
+  if(NOT "${CUDA_TOOLKIT_TARGET_DIR}" STREQUAL "${OPENCV_CUDA_TOOLKIT_TARGET_DIR_INTERNAL}")
+    unset(CUDA_TOOLKIT_INCLUDE CACHE)
+    unset(CUDA_CUDART_LIBRARY CACHE)
+    unset(CUDA_CUDA_LIBRARY CACHE)
+    unset(CUDA_cupti_LIBRARY CACHE)
+    unset(CUDA_cublas_LIBRARY CACHE)
+    unset(CUDA_cublasemu_LIBRARY CACHE)
+    unset(CUDA_cufft_LIBRARY CACHE)
+    unset(CUDA_cufftemu_LIBRARY CACHE)
+    unset(CUDA_curand_LIBRARY CACHE)
+    unset(CUDA_cusparse_LIBRARY CACHE)
+    unset(CUDA_npp_LIBRARY CACHE)
+    unset(CUDA_nppc_LIBRARY CACHE)
+    unset(CUDA_nppi_LIBRARY CACHE)
+    unset(CUDA_npps_LIBRARY CACHE)
+    unset(CUDA_nvcuvenc_LIBRARY CACHE)
+    unset(CUDA_nvcuvid_LIBRARY CACHE)
+  endif()
 
-      set(CUDA_TOOLKIT_INCLUDE "${cuda_arm_path}/include" CACHE PATH "include path")
-      set(CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_INCLUDE})
+  # CUDA_TOOLKIT_INCLUDE
+  find_path(CUDA_TOOLKIT_INCLUDE
+    device_functions.h # Header included in toolkit
+    PATHS "${CUDA_TOOLKIT_TARGET_DIR}" "${CUDA_TOOLKIT_ROOT_DIR}"
+    ENV CUDA_PATH
+    ENV CUDA_INC_PATH
+    PATH_SUFFIXES include
+    NO_DEFAULT_PATH
+  )
 
-      set(cuda_arm_library_path "${cuda_arm_path}/lib")
+  # Search default search paths, after we search our own set of paths.
+  find_path(CUDA_TOOLKIT_INCLUDE device_functions.h)
+  mark_as_advanced(CUDA_TOOLKIT_INCLUDE)
 
-      set(CUDA_CUDART_LIBRARY "${cuda_arm_library_path}/libcudart.so" CACHE FILEPATH "cudart library")
-      set(CUDA_LIBRARIES ${CUDA_CUDART_LIBRARY})
-      set(CUDA_cublas_LIBRARY "${cuda_arm_library_path}/libcublas.so" CACHE FILEPATH "cublas library")
-      set(CUDA_cufft_LIBRARY "${cuda_arm_library_path}/libcufft.so" CACHE FILEPATH "cufft library")
-      set(CUDA_nppc_LIBRARY "${cuda_arm_library_path}/libnppc.so" CACHE FILEPATH "nppc library")
-      set(CUDA_nppi_LIBRARY "${cuda_arm_library_path}/libnppi.so" CACHE FILEPATH "nppi library")
-      set(CUDA_npps_LIBRARY "${cuda_arm_library_path}/libnpps.so" CACHE FILEPATH "npps library")
-      set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}" CACHE STRING "npp library")
+  macro(opencv_cuda_find_library_local_first_with_path_ext _var _names _doc _path_ext)
+    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+      # CUDA 3.2+ on Windows moved the library directories, so we need the new
+      # and old paths.
+      set(_cuda_64bit_lib_dir "${_path_ext}lib/x64" "${_path_ext}lib64" "${_path_ext}libx64" )
+    endif()
+    # CUDA 3.2+ on Windows moved the library directories, so we need to new
+    # (lib/Win32) and the old path (lib).
+    find_library(${_var}
+      NAMES ${_names}
+      PATHS "${CUDA_TOOLKIT_TARGET_DIR}" "${CUDA_TOOLKIT_ROOT_DIR}"
+      ENV CUDA_PATH
+      ENV CUDA_LIB_PATH
+      PATH_SUFFIXES ${_cuda_64bit_lib_dir} "${_path_ext}lib/Win32" "${_path_ext}lib" "${_path_ext}libWin32"
+      DOC ${_doc}
+      NO_DEFAULT_PATH
+    )
+    # Search default search paths, after we search our own set of paths.
+    find_library(${_var} NAMES ${_names} DOC ${_doc})
+  endmacro()
+
+  macro(opencv_cuda_find_library_local_first _var _names _doc )
+    opencv_cuda_find_library_local_first_with_path_ext( "${_var}" "${_names}" "${_doc}" "" )
+  endmacro()
+
+  macro(opencv_find_library_local_first _var _names _doc )
+    opencv_cuda_find_library_local_first( "${_var}" "${_names}" "${_doc}" "" )
+  endmacro()
+
+  # CUDA_LIBRARIES
+  opencv_cuda_find_library_local_first(CUDA_CUDART_LIBRARY cudart "\"cudart\" library")
+  if(CUDA_VERSION VERSION_EQUAL "3.0")
+    # The cudartemu library only existed for the 3.0 version of CUDA.
+    opencv_cuda_find_library_local_first(CUDA_CUDARTEMU_LIBRARY cudartemu "\"cudartemu\" library")
+    mark_as_advanced(
+      CUDA_CUDARTEMU_LIBRARY
+    )
+  endif()
+
+  # CUPTI library showed up in cuda toolkit 4.0
+  if(NOT CUDA_VERSION VERSION_LESS "4.0")
+    opencv_cuda_find_library_local_first_with_path_ext(CUDA_cupti_LIBRARY cupti "\"cupti\" library" "extras/CUPTI/")
+    mark_as_advanced(CUDA_cupti_LIBRARY)
+  endif()
+
+  # If we are using emulation mode and we found the cudartemu library then use
+  # that one instead of cudart.
+  if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
+    set(CUDA_LIBRARIES ${CUDA_CUDARTEMU_LIBRARY})
+  else()
+    set(CUDA_LIBRARIES ${CUDA_CUDART_LIBRARY})
+  endif()
+  if(APPLE)
+    # We need to add the path to cudart to the linker using rpath, since the
+    # library name for the cuda libraries is prepended with @rpath.
+    if(CUDA_BUILD_EMULATION AND CUDA_CUDARTEMU_LIBRARY)
+      get_filename_component(_cuda_path_to_cudart "${CUDA_CUDARTEMU_LIBRARY}" PATH)
     else()
-      unset(CUDA_npp_LIBRARY CACHE)
-
-      find_cuda_helper_libs(nppc)
-      find_cuda_helper_libs(nppi)
-      find_cuda_helper_libs(npps)
-
-      set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}" CACHE STRING "npp library")
+      get_filename_component(_cuda_path_to_cudart "${CUDA_CUDART_LIBRARY}" PATH)
+    endif()
+    if(_cuda_path_to_cudart)
+      list(APPEND CUDA_LIBRARIES -Wl,-rpath "-Wl,${_cuda_path_to_cudart}")
     endif()
   endif()
 
+  # 1.1 toolkit on linux doesn't appear to have a separate library on
+  # some platforms.
+  opencv_cuda_find_library_local_first(CUDA_CUDA_LIBRARY cuda "\"cuda\" library (older versions only).")
+
+  mark_as_advanced(
+    CUDA_CUDA_LIBRARY
+    CUDA_CUDART_LIBRARY
+  )
+
+  #######################
+  # Look for some of the toolkit helper libraries
+  macro(OPENCV_FIND_CUDA_HELPER_LIBS _name)
+    opencv_cuda_find_library_local_first(CUDA_${_name}_LIBRARY ${_name} "\"${_name}\" library")
+    mark_as_advanced(CUDA_${_name}_LIBRARY)
+  endmacro()
+
+  # Search for additional CUDA toolkit libraries.
+  if(CUDA_VERSION VERSION_LESS "3.1")
+    # Emulation libraries aren't available in version 3.1 onward.
+    opencv_find_cuda_helper_libs(cufftemu)
+    opencv_find_cuda_helper_libs(cublasemu)
+  endif()
+  opencv_find_cuda_helper_libs(cufft)
+  opencv_find_cuda_helper_libs(cublas)
+  if(NOT CUDA_VERSION VERSION_LESS "3.2")
+    # cusparse showed up in version 3.2
+    opencv_find_cuda_helper_libs(cusparse)
+    opencv_find_cuda_helper_libs(curand)
+    if (WIN32)
+      opencv_find_cuda_helper_libs(nvcuvenc)
+      opencv_find_cuda_helper_libs(nvcuvid)
+    endif()
+  endif()
+  if(CUDA_VERSION VERSION_GREATER "5.0")
+    # In CUDA 5.5 NPP was splitted onto 3 separate libraries.
+    opencv_find_cuda_helper_libs(nppc)
+    opencv_find_cuda_helper_libs(nppi)
+    opencv_find_cuda_helper_libs(npps)
+    set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")
+  elseif(NOT CUDA_VERSION VERSION_LESS "4.0")
+    opencv_find_cuda_helper_libs(npp)
+  endif()
+
+  if(CUDA_BUILD_EMULATION)
+    set(CUDA_CUFFT_LIBRARIES ${CUDA_cufftemu_LIBRARY})
+    set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublasemu_LIBRARY})
+  else()
+    set(CUDA_CUFFT_LIBRARIES ${CUDA_cufft_LIBRARY})
+    set(CUDA_CUBLAS_LIBRARIES ${CUDA_cublas_LIBRARY})
+  endif()
+
+  set(OPENCV_CUDA_TOOLKIT_ROOT_DIR_INTERNAL "${CUDA_TOOLKIT_ROOT_DIR}" CACHE INTERNAL
+    "This is the value of the last time CUDA_TOOLKIT_ROOT_DIR was set successfully." FORCE)
+  set(OPENCV_CUDA_TOOLKIT_TARGET_DIR_INTERNAL "${CUDA_TOOLKIT_TARGET_DIR}" CACHE INTERNAL
+    "This is the value of the last time CUDA_TOOLKIT_TARGET_DIR was set successfully." FORCE)
+
+  # Hack for CUDA >5.5 support
+  ##############################################################################################
+
   if(WITH_NVCUVID)
-    find_cuda_helper_libs(nvcuvid)
+    opencv_find_cuda_helper_libs(nvcuvid)
     set(HAVE_NVCUVID 1)
   endif()