diff --git a/docker/main/Dockerfile b/docker/main/Dockerfile
index de823bf1c..48ee26473 100644
--- a/docker/main/Dockerfile
+++ b/docker/main/Dockerfile
@@ -115,6 +115,11 @@ FROM base AS wheels
 ARG DEBIAN_FRONTEND
 ARG TARGETARCH
 
+RUN apt-get update && \
+    apt-get install software-properties-common -y && \
+    add-apt-repository ppa:deadsnakes/ppa -y && \
+    apt-get update
+
 # Use a separate container to build wheels to prevent build dependencies in final image
 RUN apt-get -qq update \
     && apt-get -qq install -y \
@@ -130,12 +135,13 @@ RUN apt-get -qq update \
     && apt-get -qq install -y \
     python3.9 \
     python3.9-dev \
+    python3.9-distutils \
     # opencv dependencies
     build-essential cmake git pkg-config libgtk-3-dev \
     libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
     libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
     gfortran openexr libatlas-base-dev libssl-dev\
-    libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
+    libtbb2 libtbb-dev libdc1394-dev libopenexr-dev \
     libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev \
     # scipy dependencies
     gcc gfortran libopenblas-dev liblapack-dev && \
@@ -184,7 +190,7 @@ RUN --mount=type=bind,source=docker/main/install_deps.sh,target=/deps/install_de
 
 RUN --mount=type=bind,from=wheels,source=/wheels,target=/deps/wheels \
     python3 -m pip install --upgrade pip && \
-    pip3 install -U /deps/wheels/*.whl
+    pip3 install --ignore-installed -U /deps/wheels/*.whl
 
 COPY --from=deps-rootfs / /
 
diff --git a/docker/main/install_deps.sh b/docker/main/install_deps.sh
index 43fff479b..fd99bff84 100755
--- a/docker/main/install_deps.sh
+++ b/docker/main/install_deps.sh
@@ -4,6 +4,10 @@ set -euxo pipefail
 
 apt-get -qq update
 
+apt-get -qq install software-properties-common -y
+add-apt-repository ppa:deadsnakes/ppa -y
+apt-get update -qq
+
 apt-get -qq install --no-install-recommends -y \
     apt-transport-https \
     gnupg \
@@ -11,6 +15,7 @@ apt-get -qq install --no-install-recommends -y \
     procps vainfo \
     unzip locales tzdata libxml2 xz-utils \
     python3.9 \
+    python3.9-distutils \
     python3-pip \
     curl \
     jq \
@@ -35,7 +40,16 @@ fi
 # coral drivers
 apt-get -qq update
 apt-get -qq install --no-install-recommends --no-install-suggests -y \
-    libedgetpu1-max python3-tflite-runtime python3-pycoral
+    libedgetpu1-max
+
+# apt-get -qq install --no-install-recommends --no-install-suggests -y \
+#     libedgetpu1-max python3-tflite-runtime python3-pycoral
+
+pip3 install --extra-index-url https://google-coral.github.io/py-repo/ tflite_runtime
+
+apt install gdal-bin python3-gdal -y
+
+pip3 install --extra-index-url https://google-coral.github.io/py-repo/ pycoral
 
 # btbn-ffmpeg -> amd64
 if [[ "${TARGETARCH}" == "amd64" ]]; then
diff --git a/docker/tensorrt/Dockerfile.arm64 b/docker/tensorrt/Dockerfile.arm64
index 70184bf9b..ce7cabe0e 100644
--- a/docker/tensorrt/Dockerfile.arm64
+++ b/docker/tensorrt/Dockerfile.arm64
@@ -7,10 +7,15 @@ ARG BASE_IMAGE
 FROM ${BASE_IMAGE} AS build-wheels
 ARG DEBIAN_FRONTEND
 
+RUN apt-get update && \
+    apt-get install software-properties-common -y && \
+    add-apt-repository ppa:deadsnakes/ppa -y && \
+    apt-get update
+
 # Use a separate container to build wheels to prevent build dependencies in final image
 RUN apt-get -qq update \
     && apt-get -qq install -y --no-install-recommends \
-       python3.9 python3.9-dev \
+       python3.9 python3.9-dev python3.9-distutils \
        wget build-essential cmake git \
     && rm -rf /var/lib/apt/lists/*
 
@@ -25,6 +30,15 @@ FROM build-wheels AS trt-wheels
 ARG DEBIAN_FRONTEND
 ARG TARGETARCH
 
+RUN apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
+
+RUN echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+RUN echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+RUN echo "deb https://repo.download.nvidia.com/jetson/ffmpeg r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+
+RUN mkdir -p /opt/nvidia/l4t-packages/
+RUN touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
+
 # python-tensorrt build deps are 3.4 GB!
 RUN apt-get update \
     && apt-get install -y ccache cuda-cudart-dev-* cuda-nvcc-* libnvonnxparsers-dev libnvparsers-dev libnvinfer-plugin-dev \
diff --git a/docker/tensorrt/Dockerfile.base b/docker/tensorrt/Dockerfile.base
index 59ead46f5..d7fd1a0f0 100644
--- a/docker/tensorrt/Dockerfile.base
+++ b/docker/tensorrt/Dockerfile.base
@@ -10,6 +10,14 @@ FROM ${TRT_BASE} AS trt-deps
 
 ARG COMPUTE_LEVEL
 
+RUN apt-get update && \
+    apt-get install software-properties-common -y && \
+    add-apt-repository ppa:deadsnakes/ppa -y && \
+    apt-get update
+
+RUN echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | tee /etc/apt/sources.list.d/coral-edgetpu.list
+RUN curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add -
+
 RUN apt-get update \
     && apt-get install -y git build-essential cuda-nvcc-* cuda-nvtx-* libnvinfer-dev libnvinfer-plugin-dev libnvparsers-dev libnvonnxparsers-dev \
     && rm -rf /var/lib/apt/lists/*
diff --git a/docker/tensorrt/build_jetson_ffmpeg.sh b/docker/tensorrt/build_jetson_ffmpeg.sh
index f4e55c2bb..72f06d678 100755
--- a/docker/tensorrt/build_jetson_ffmpeg.sh
+++ b/docker/tensorrt/build_jetson_ffmpeg.sh
@@ -14,7 +14,21 @@ apt-get -qq install -y --no-install-recommends libx264-dev libx265-dev
 pushd /tmp
 
 # Install libnvmpi to enable nvmpi decoders (h264_nvmpi, hevc_nvmpi)
-if [ -e /usr/local/cuda-10.2 ]; then
+if [ -e /usr/local/cuda-12.2 ]; then
+    # assume Jetpack 6.X
+    apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
+
+    echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+    echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+    echo "deb https://repo.download.nvidia.com/jetson/ffmpeg r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+
+    mkdir -p /opt/nvidia/l4t-packages/
+    touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
+
+    apt-get update
+
+    apt-get install nvidia-l4t-jetson-multimedia-api -o Dpkg::Options::="--force-confold" --force-yes -y
+elif [ -e /usr/local/cuda-10.2 ]; then
     # assume Jetpack 4.X
     wget -q https://developer.nvidia.com/embedded/L4T/r32_Release_v5.0/T186/Jetson_Multimedia_API_R32.5.0_aarch64.tbz2 -O jetson_multimedia_api.tbz2
 else
diff --git a/docker/tensorrt/detector/build_python_tensorrt.sh b/docker/tensorrt/detector/build_python_tensorrt.sh
index 21b6ae268..5616473f2 100755
--- a/docker/tensorrt/detector/build_python_tensorrt.sh
+++ b/docker/tensorrt/detector/build_python_tensorrt.sh
@@ -12,7 +12,7 @@ if [[ "${TARGETARCH}" == "arm64" ]]; then
   # Get python-tensorrt source
   mkdir /workspace
   cd /workspace
-  git clone -b ${TENSORRT_VER} https://github.com/NVIDIA/TensorRT.git --depth=1
+  git clone -b release/8.6 https://github.com/NVIDIA/TensorRT.git --depth=1
 
   # Collect dependencies
   EXT_PATH=/workspace/external && mkdir -p $EXT_PATH
@@ -22,7 +22,7 @@ if [[ "${TARGETARCH}" == "arm64" ]]; then
 
   # Build wheel
   cd /workspace/TensorRT/python
-  EXT_PATH=$EXT_PATH PYTHON_MAJOR_VERSION=3 PYTHON_MINOR_VERSION=9 TARGET_ARCHITECTURE=aarch64 /bin/bash ./build.sh
-  mv build/dist/*.whl /trt-wheels/
+  EXT_PATH=$EXT_PATH PYTHON_MAJOR_VERSION=3 PYTHON_MINOR_VERSION=9 TARGET_ARCHITECTURE=aarch64 TENSORRT_MODULE=tensorrt /bin/bash ./build.sh
+  mv build/bindings_wheel/dist/*.whl /trt-wheels/
 
 fi