diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9ef26a4c..e4d8fccf 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -3,7 +3,10 @@ name: Continuous Integration
 on:
   push:
     paths-ignore:
+    - .github/workflows/docker.yml
+    - .github/workflows/doxygen.yml
     - 'doc/**'
+    - 'docker/**'
     - '**.md'
   pull_request:
   schedule:
@@ -27,6 +30,10 @@ jobs:
   build:
     name: build (${{matrix.os}}, ${{matrix.robotology.yarp}}, ${{matrix.compiler.cc}})
     runs-on: ${{matrix.os}}
+    container:
+      image: ghcr.io/roboticslab-uc3m/vision:${{matrix.os}}-opencv-4.x
+      env:
+        DEBIAN_FRONTEND: noninteractive
     needs: maybe_skip
     if: ${{needs.maybe_skip.outputs.should_skip != 'true'}}
 
@@ -63,8 +70,8 @@ jobs:
         ref: ${{matrix.robotology.yarp}}
         path: .deps/yarp
 
-    - name: Install dependencies via apt
-      run: sudo apt-get update && sudo apt-get install -qq ccache libopencv-dev libpcl-dev swig googletest
+    # - name: Install dependencies via apt
+    #   run: apt-get update && apt-get upgrade -qqy
 
     - name: Set up CMake
       uses: jwlawson/actions-setup-cmake@v2
@@ -91,13 +98,13 @@ jobs:
       run: |
         cmake -S .deps/ycm -B .deps/ycm/build
         cmake --build .deps/ycm/build
-        sudo cmake --install .deps/ycm/build
+        cmake --install .deps/ycm/build
 
     - name: Build YARP
       run: |
         cmake -S .deps/yarp -B .deps/yarp/build $CMAKE_CCACHE_LAUNCHER -DSKIP_ACE=ON -DYARP_DISABLE_VERSION_SOURCE=ON
         cmake --build .deps/yarp/build
-        sudo cmake --install .deps/yarp/build
+        cmake --install .deps/yarp/build
 
     - name: Configure vision
       run: cmake -S . -B build $CMAKE_CCACHE_LAUNCHER -DCREATE_BINDINGS_PYTHON=ON -DENABLE_examples=ON
@@ -106,11 +113,11 @@ jobs:
       run: cmake --build build
 
     - name: Install vision
-      run: sudo cmake --install build && sudo ldconfig
+      run: cmake --install build && ldconfig
 
     - name: Test vision
       working-directory: build
       run: ctest -V
 
     - name: Uninstall vision
-      run: sudo cmake --build build --target uninstall
+      run: cmake --build build --target uninstall
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 00000000..fed7cfe3
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,54 @@
+name: Docker
+
+on:
+  push:
+    paths:
+    - 'docker/**'
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{github.repository}}
+
+jobs:
+  docker:
+    name: build (Ubuntu ${{matrix.ubuntu}}, OpenCV ${{matrix.opencv}})
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: read
+      packages: write
+      id-token: write
+
+    strategy:
+      matrix:
+        ubuntu: ['20.04', '22.04']
+        opencv: ['4.x']
+
+    steps:
+    - name: Check out main project
+      uses: actions/checkout@v4
+
+    - name: Log in to the Container Registry
+      uses: docker/login-action@v3
+      with:
+        registry: ${{env.REGISTRY}}
+        username: ${{github.actor}}
+        password: ${{secrets.GITHUB_TOKEN}}
+
+    - name: Extract metadata (tags, labels) for Docker
+      id: meta
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{env.REGISTRY}}/${{env.IMAGE_NAME}}
+
+    - name: Build and push
+      uses: docker/build-push-action@v6
+      with:
+        push: true
+        context: docker
+        tags: ${{env.REGISTRY}}/${{env.IMAGE_NAME}}:ubuntu-${{matrix.ubuntu}}-opencv-${{matrix.opencv}}
+        labels: ${{steps.meta.outputs.labels}}
+        build-args: |
+          OPENCV_TAG=${{matrix.opencv}}
+          UBUNTU_TAG=${{matrix.ubuntu}}
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 00000000..1ac39f69
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,31 @@
+ARG UBUNTU_TAG
+FROM ubuntu:${UBUNTU_TAG}
+
+ARG OPENCV_TAG
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y \
+        g++ \
+        clang \
+        cmake \
+        wget \
+        unzip \
+        ccache \
+        libpcl-dev \
+        swig \
+        googletest && \
+    wget -O opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_TAG}.zip && \
+    wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_TAG}.zip && \
+    unzip opencv.zip && \
+    unzip opencv_contrib.zip && \
+    cmake -S opencv-${OPENCV_TAG} -B opencv-${OPENCV_TAG}/build \
+        -DOPENCV_EXTRA_MODULES_PATH=opencv_contrib-${OPENCV_TAG}/modules \
+        -DBUILD_TESTS=OFF \
+        -DBUILD_PERF_TESTS=OFF \
+        -DOPENCV_ENABLE_NONFREE=ON && \
+    cmake --build opencv-${OPENCV_TAG}/build && \
+    cmake --install opencv-${OPENCV_TAG}/build && \
+    rm -rf opencv.zip opencv_contrib.zip opencv-${OPENCV_TAG} opencv_contrib-${OPENCV_TAG} && \
+    apt-get clean