diff --git a/CMakeLists.txt b/CMakeLists.txt
index f67327280..a7b4aa4ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2672,16 +2672,14 @@ if(DEFINED ENV{CUDA_GPU_ACCEL})
 endif()
 
 if(ENABLE_CUDA)
+    set(CMAKE_CUDA_STANDARD 14)
+    set(CMAKE_CUDA_EXTENSIONS ON)
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         include(CheckLanguage)
         check_language(CUDA)
         if(CMAKE_CUDA_COMPILER)
             enable_language(CUDA)
             set(CUDA_FOUND TRUE)
-            if(NOT DEFINED CMAKE_CUDA_STANDARD)
-                set(CMAKE_CUDA_STANDARD 11)
-                set(CMAKE_CUDA_STANDARD_REQUIRED ON)
-            endif()
         else()
             set(ENABLE_CUDA OFF)
         endif()
@@ -2689,12 +2687,19 @@ if(ENABLE_CUDA)
         find_package(CUDA REQUIRED)
         set_package_properties(CUDA PROPERTIES
             URL "https://developer.nvidia.com/cuda-downloads"
-            DESCRIPTION "Library for parallel programming in Nvidia GPUs"
             PURPOSE "Used in some processing block implementations."
             TYPE REQUIRED
         )
-        set(CMAKE_CUDA_STANDARD 14)
-        if(NOT CUDA_FOUND)
+        if(CUDA_FOUND)
+            set_package_properties(CUDA PROPERTIES
+                DESCRIPTION "Library for parallel programming in Nvidia GPUs (found: v${CUDA_VERSION_STRING})"
+            )
+            set(CMAKE_CUDA_COMPILER_ID "NVIDIA")  # only for reporting purposes
+            set(CMAKE_CUDA_COMPILER_VERSION ${CUDA_VERSION_STRING})  # only for reporting purposes
+        else()
+            set_package_properties(CUDA PROPERTIES
+                DESCRIPTION "Library for parallel programming in Nvidia GPUs"
+            )
             set(ENABLE_CUDA OFF)
         endif()
     endif()
@@ -2704,7 +2709,6 @@ if(ENABLE_CUDA)
     message(STATUS " You can disable it with 'cmake -DENABLE_CUDA=OFF ..'")
 else()
     message(STATUS "NVIDIA CUDA GPU Acceleration will be not enabled.")
-    message(STATUS " Enable it with 'cmake -DENABLE_CUDA=ON ..' to add support for GPU-based acceleration using CUDA.")
 endif()
 
 
@@ -3156,6 +3160,9 @@ endif()
 message(STATUS "CMake version: ${CMAKE_VERSION}")
 message(STATUS "The CXX compiler identification is ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}. Standard: C++${CMAKE_CXX_STANDARD}.")
 message(STATUS "The C compiler identification is ${CMAKE_C_COMPILER_ID} ${CMAKE_C_COMPILER_VERSION}. Standard: C${CMAKE_C_STANDARD}.")
+if(CUDA_FOUND)
+    message(STATUS "The CUDA compiler identification is ${CMAKE_CUDA_COMPILER_ID} ${CMAKE_CUDA_COMPILER_VERSION}. Standard: C++${CMAKE_CUDA_STANDARD}.")
+endif()
 message(STATUS "")
 file(REMOVE ${CMAKE_BINARY_DIR}/features.log)
 file(WRITE ${CMAKE_BINARY_DIR}/features.log "**********************************\n")
diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index c6b90244e..954b0afc9 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -43,15 +43,13 @@ set(TRACKING_LIB_HEADERS
 )
 
 if(ENABLE_CUDA)
+    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -O3; -use_fast_math -default-stream per-thread")
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} cuda_multicorrelator.cu)
         set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} cuda_multicorrelator.h)
     else()
-        list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math -default-stream per-thread")
-        set(CUDA_PROPAGATE_HOST_FLAGS OFF)
         cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-        set(LIB_TYPE STATIC) #set the lib type
-        cuda_add_library(cuda_correlator_lib ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
+        cuda_add_library(cuda_correlator_lib STATIC cuda_multicorrelator.h cuda_multicorrelator.cu)
     endif()
 endif()
 
@@ -111,6 +109,7 @@ if(ENABLE_CUDA)
     set_target_properties(tracking_libs PROPERTIES
         CUDA_SEPARABLE_COMPILATION ON
         POSITION_INDEPENDENT_CODE ON
+        CUDA_RESOLVE_DEVICE_SYMBOLS ON
     )
 endif()