Heterogeneous computing is increasingly being used in a diversity of computing systems, ranging from HPC to the real-time embedded domain, to cope with the performance requirements. Due to the variety of accelerators, e.g., FPGAs, GPUs, the use of high-level parallel programming models is desirable to exploit the performance capabilities of them, while maintaining an adequate productivity level. In that regard, OpenMP is a well-known high-level programming model that incorporates powerful task and accelerator models capable of efficiently exploiting structured and unstructured parallelism in heterogeneous computing. This paper presents a novel compiler transformation technique that automatically transforms OpenMP code into CUDA graphs, combining the benefits of programmability of a high-level programming model such as OpenMP, with the performance benefits of a low-level programming model such as CUDA. Evaluations have been performed on two NVIDIA GPUs from the HPC and embedded domains, i.e., the V100 and the Jetson AGX respectively.