You can put your images in /res/drawable, then Android would scale them according to dpi in order to keep the image to be roughly the same physical size regardless of display density. In this case an image would be unmodified in MDPI, 1.5x larger in HDPI, 2x larger in XHDPI, and 3x larger in XXHDPI.
You can also put them in /res/drawable-nodpi, in which case no image rescaling would be applied, but it is hardly ideal as the same image would be physically 3x smaller in XXHDPI than in MDPI.
All of the above methods have serious cons, so really the most sensible method is to put the correct sized images in their respective DPI folders. Your images should be drawn in a much larger resolution, so it should just be a matter of rescaling each image to different DPI sizes.