diff --git a/docker/jammy_cuda/Dockerfile b/docker/jammy_cuda/Dockerfile
new file mode 100644
index 0000000..b42c7f4
--- /dev/null
+++ b/docker/jammy_cuda/Dockerfile
@@ -0,0 +1,31 @@
+FROM nvidia/cuda:12.2.2-devel-ubuntu22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    && apt-get install --no-install-recommends -y wget nano cmake build-essential git \
+    ca-certificates libeigen3-dev libboost-all-dev libflann-dev libvtk7-dev libomp-dev libgtest-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /root
+RUN git clone https://github.com/PointCloudLibrary/pcl
+
+WORKDIR /root/pcl/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_geometry=OFF -DBUILD_keypoints=OFF -DBUILD_ml=OFF -DBUILD_outofcore=OFF -DBUILD_people=OFF \
+    -DBUILD_recognition=OFF -DBUILD_segmentation=OFF -DBUILD_stereo=OFF -DBUILD_surface=OFF -DBUILD_tools=OFF -DBUILD_tracking=OFF
+RUN make -j$(nproc) && make install
+
+COPY . /root/fast_gicp
+WORKDIR /root/fast_gicp
+RUN git submodule init && git submodule update
+
+RUN rm -rf /root/fast_gicp/build
+WORKDIR /root/fast_gicp/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON -DBUILD_PYTHON_BINDINGS=ON -DBUILD_apps=OFF -DBUILD_test=ON
+RUN make -j$(nproc)
+
+WORKDIR /root
+
+CMD ["bash"]