diff --git a/modules/cudafeatures2d/src/cuda/orb.cu b/modules/cudafeatures2d/src/cuda/orb.cu
index 926c80a9b45df0ead0ab3ffd2c519e05d4072743..182ca4fb867408b721c7fcea483b85d91b9cd2d9 100644
--- a/modules/cudafeatures2d/src/cuda/orb.cu
+++ b/modules/cudafeatures2d/src/cuda/orb.cu
@@ -51,7 +51,7 @@
 #include "opencv2/core/cuda/common.hpp"
 #include "opencv2/core/cuda/reduce.hpp"
 #include "opencv2/core/cuda/functional.hpp"
-
+#include "opencv2/core/cuda/utility.hpp"
 namespace cv { namespace cuda { namespace device
 {
     namespace orb
@@ -64,6 +64,16 @@ namespace cv { namespace cuda { namespace device
             thrust::device_ptr<int> loc_ptr(loc);
             thrust::device_ptr<float> response_ptr(response);
 #if THRUST_VERSION >= 100800
+#if THRUST_VERSION >= 100802
+            if (stream)
+            {
+                thrust::sort_by_key(thrust::cuda::par(ThrustAllocator::getAllocator()).on(stream), response_ptr, response_ptr + size, loc_ptr, thrust::greater<float>());
+            }
+            else
+            {
+                thrust::sort_by_key(thrust::cuda::par(ThrustAllocator::getAllocator()), response_ptr, response_ptr + size, loc_ptr, thrust::greater<float>());
+            }
+#else
             if(stream)
             {
                 thrust::sort_by_key(thrust::cuda::par.on(stream), response_ptr, response_ptr + size, loc_ptr, thrust::greater<float>());
@@ -71,6 +81,7 @@ namespace cv { namespace cuda { namespace device
             {
                 thrust::sort_by_key(response_ptr, response_ptr + size, loc_ptr, thrust::greater<float>());
             }
+#endif
 #else
             thrust::sort_by_key(response_ptr, response_ptr + size, loc_ptr, thrust::greater<float>());
 #endif
diff --git a/modules/cudaimgproc/src/cuda/gftt.cu b/modules/cudaimgproc/src/cuda/gftt.cu
index 029df41ce84d281ac1d53f8d0652f00022f957f1..ab8713f868a9c6f5ec836dd0ab093afc3e9596af 100644
--- a/modules/cudaimgproc/src/cuda/gftt.cu
+++ b/modules/cudaimgproc/src/cuda/gftt.cu
@@ -47,7 +47,7 @@
 
 #include "opencv2/core/cuda/common.hpp"
 #include "opencv2/core/cuda/utility.hpp"
-
+#include <thrust/execution_policy.h>
 namespace cv { namespace cuda { namespace device
 {
     namespace gfft
@@ -91,12 +91,12 @@ namespace cv { namespace cuda { namespace device
             }
         }
 
-        int findCorners_gpu(PtrStepSzf eig, float threshold, PtrStepSzb mask, float2* corners, int max_count)
+        int findCorners_gpu(PtrStepSzf eig, float threshold, PtrStepSzb mask, float2* corners, int max_count, cudaStream_t stream)
         {
             void* counter_ptr;
             cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, g_counter) );
 
-            cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(int)) );
+            cudaSafeCall( cudaMemsetAsync(counter_ptr, 0, sizeof(int), stream) );
 
             bindTexture(&eigTex, eig);
 
@@ -104,17 +104,18 @@ namespace cv { namespace cuda { namespace device
             dim3 grid(divUp(eig.cols, block.x), divUp(eig.rows, block.y));
 
             if (mask.data)
-                findCorners<<<grid, block>>>(threshold, SingleMask(mask), corners, max_count, eig.rows, eig.cols);
+                findCorners<<<grid, block, 0, stream>>>(threshold, SingleMask(mask), corners, max_count, eig.rows, eig.cols);
             else
-                findCorners<<<grid, block>>>(threshold, WithOutMask(), corners, max_count, eig.rows, eig.cols);
+                findCorners<<<grid, block, 0, stream>>>(threshold, WithOutMask(), corners, max_count, eig.rows, eig.cols);
 
             cudaSafeCall( cudaGetLastError() );
 
-            cudaSafeCall( cudaDeviceSynchronize() );
-
             int count;
-            cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(int), cudaMemcpyDeviceToHost) );
-
+            cudaSafeCall( cudaMemcpyAsync(&count, counter_ptr, sizeof(int), cudaMemcpyDeviceToHost, stream) );
+            if (stream)
+                cudaSafeCall(cudaStreamSynchronize(stream));
+            else
+                cudaSafeCall( cudaDeviceSynchronize() );
             return std::min(count, max_count);
         }
 
@@ -128,13 +129,19 @@ namespace cv { namespace cuda { namespace device
         };
 
 
-        void sortCorners_gpu(PtrStepSzf eig, float2* corners, int count)
+        void sortCorners_gpu(PtrStepSzf eig, float2* corners, int count, cudaStream_t stream)
         {
             bindTexture(&eigTex, eig);
 
             thrust::device_ptr<float2> ptr(corners);
-
+#if THRUST_VERSION >= 100802
+            if (stream)
+                thrust::sort(thrust::cuda::par(ThrustAllocator::getAllocator()).on(stream), ptr, ptr + count, EigGreater());
+            else
+                thrust::sort(thrust::cuda::par(ThrustAllocator::getAllocator()), ptr, ptr + count, EigGreater());
+#else
             thrust::sort(ptr, ptr + count, EigGreater());
+#endif
         }
     } // namespace optical_flow
 }}}
diff --git a/modules/cudaimgproc/src/gftt.cpp b/modules/cudaimgproc/src/gftt.cpp
index 73221c44d1d23dccc2b01e48e24f5f2b9a77802d..bf5d01b1174c798bd465dceac2a7134b7241ab15 100644
--- a/modules/cudaimgproc/src/gftt.cpp
+++ b/modules/cudaimgproc/src/gftt.cpp
@@ -55,8 +55,8 @@ namespace cv { namespace cuda { namespace device
 {
     namespace gfft
     {
-        int findCorners_gpu(PtrStepSzf eig, float threshold, PtrStepSzb mask, float2* corners, int max_count);
-        void sortCorners_gpu(PtrStepSzf eig, float2* corners, int count);
+        int findCorners_gpu(PtrStepSzf eig, float threshold, PtrStepSzb mask, float2* corners, int max_count, cudaStream_t stream);
+        void sortCorners_gpu(PtrStepSzf eig, float2* corners, int count, cudaStream_t stream);
     }
 }}}
 
@@ -97,9 +97,6 @@ namespace
 
     void GoodFeaturesToTrackDetector::detect(InputArray _image, OutputArray _corners, InputArray _mask, Stream& stream)
     {
-        // TODO : implement async version
-        (void) stream;
-
         using namespace cv::cuda::device::gfft;
 
         GpuMat image = _image.getGpuMat();
@@ -108,14 +105,14 @@ namespace
         CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
 
         ensureSizeIsEnough(image.size(), CV_32FC1, eig_);
-        cornerCriteria_->compute(image, eig_);
+        cornerCriteria_->compute(image, eig_, stream);
 
         double maxVal = 0;
         cuda::minMax(eig_, 0, &maxVal);
-
+        cudaStream_t stream_ = StreamAccessor::getStream(stream);
         ensureSizeIsEnough(1, std::max(1000, static_cast<int>(image.size().area() * 0.05)), CV_32FC2, tmpCorners_);
 
-        int total = findCorners_gpu(eig_, static_cast<float>(maxVal * qualityLevel_), mask, tmpCorners_.ptr<float2>(), tmpCorners_.cols);
+        int total = findCorners_gpu(eig_, static_cast<float>(maxVal * qualityLevel_), mask, tmpCorners_.ptr<float2>(), tmpCorners_.cols, stream_);
 
         if (total == 0)
         {
@@ -123,18 +120,18 @@ namespace
             return;
         }
 
-        sortCorners_gpu(eig_, tmpCorners_.ptr<float2>(), total);
+        sortCorners_gpu(eig_, tmpCorners_.ptr<float2>(), total, stream_);
 
         if (minDistance_ < 1)
         {
-            tmpCorners_.colRange(0, maxCorners_ > 0 ? std::min(maxCorners_, total) : total).copyTo(_corners);
+            tmpCorners_.colRange(0, maxCorners_ > 0 ? std::min(maxCorners_, total) : total).copyTo(_corners, stream);
         }
         else
         {
             std::vector<Point2f> tmp(total);
             Mat tmpMat(1, total, CV_32FC2, (void*)&tmp[0]);
-            tmpCorners_.colRange(0, total).download(tmpMat);
-
+            tmpCorners_.colRange(0, total).download(tmpMat, stream);
+            stream.waitForCompletion();
             std::vector<Point2f> tmp2;
             tmp2.reserve(total);
 
@@ -203,7 +200,7 @@ namespace
             _corners.create(1, static_cast<int>(tmp2.size()), CV_32FC2);
             GpuMat corners = _corners.getGpuMat();
 
-            corners.upload(Mat(1, static_cast<int>(tmp2.size()), CV_32FC2, &tmp2[0]));
+            corners.upload(Mat(1, static_cast<int>(tmp2.size()), CV_32FC2, &tmp2[0]), stream);
         }
     }
 }