diff --git a/.gitmodules b/.gitmodules
index 953803f23..655acc60e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -21,3 +21,7 @@
 [submodule "plugins/pose"]
 	path = plugins/pose
 	url = https://github.com/dusty-nv/trt_pose
+[submodule "docker/containers"]
+	path = docker/containers
+	url = https://github.com/dusty-nv/jetson-containers
+	branch = master
diff --git a/CMakeLists.txt b/CMakeLists.txt
index da9559f97..4c4b6b02d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,16 +67,21 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/utils/cu
 find_package(CUDA)
 message("-- CUDA version: ${CUDA_VERSION}")
 
-set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62)
+set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3)
 
-if(CUDA_VERSION_MAJOR GREATER 9)
-	message("-- CUDA ${CUDA_VERSION_MAJOR} detected, enabling SM_72")
-	set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_72,code=sm_72)
-endif()
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+	message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_53 SM_62")
+	set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62)
+
+	if(CUDA_VERSION_MAJOR GREATER 9)
+		message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_72")
+		set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_72,code=sm_72)
+	endif()
 
-if(CUDA_VERSION_MAJOR GREATER 10)
-	message("-- CUDA ${CUDA_VERSION_MAJOR} detected, enabling SM_87")
-	set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_87,code=sm_87)
+	if(CUDA_VERSION_MAJOR GREATER 10)
+		message("-- CUDA ${CUDA_VERSION} detected (${CMAKE_SYSTEM_PROCESSOR}), enabling SM_87")
+		set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -gencode arch=compute_87,code=sm_87)
+	endif()
 endif()
 
 # setup project output paths
@@ -96,7 +101,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_OUTPUT_DIR}/lib)
 
 # build C/C++ library
 include_directories(${PROJECT_INCLUDE_DIR} ${PROJECT_INCLUDE_DIR}/jetson-inference ${PROJECT_INCLUDE_DIR}/jetson-utils)
-include_directories(/usr/include/gstreamer-1.0 /usr/lib/aarch64-linux-gnu/gstreamer-1.0/include /usr/include/glib-2.0 /usr/include/libxml2 /usr/lib/aarch64-linux-gnu/glib-2.0/include/)
+include_directories(/usr/include/gstreamer-1.0 /usr/lib/${CMAKE_SYSTEM_PROCESSOR}/gstreamer-1.0/include /usr/include/glib-2.0 /usr/include/libxml2 /usr/lib/${CMAKE_SYSTEM_PROCESSOR}/glib-2.0/include/)
 
 file(GLOB inferenceSources c/*.cpp c/*.cu calibration/*.cpp)
 file(GLOB inferenceIncludes c/*.h c/*.cuh calibration/*.h)
@@ -133,7 +138,10 @@ else()
 	file(GLOB pluginSources plugins/*.cpp plugins/*.cu plugins/pose/trt_pose/parse/*.cpp)
 endif()
 
-link_directories(/usr/lib/aarch64-linux-gnu/tegra)	
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+	link_directories(/usr/lib/aarch64-linux-gnu/tegra)
+endif()
+	
 cuda_add_library(jetson-inference SHARED ${inferenceSources} ${pluginSources})
 target_include_directories(jetson-inference PRIVATE ${PROJECT_SOURCE_DIR}/plugins/pose/trt_pose/parse)
 
diff --git a/Dockerfile b/Dockerfile
index 1ca99c7b7..7ff4f56d8 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -57,23 +57,9 @@ RUN pip3 install --verbose --upgrade Cython && \
 ARG OPENCV_URL=https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz
 ARG OPENCV_DEB=OpenCV-4.5.0-aarch64.tar.gz
 
-RUN apt-get purge -y '*opencv*' || echo "previous OpenCV installation not found" && \
-    mkdir opencv && \
-    cd opencv && \
-    wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${OPENCV_URL} -O ${OPENCV_DEB} && \
-    tar -xzvf ${OPENCV_DEB} && \
-    dpkg -i --force-depends *.deb && \
-    apt-get update && \
-    apt-get install -y -f --no-install-recommends && \
-    dpkg -i *.deb && \
-    rm -rf /var/lib/apt/lists/* && \
-    apt-get clean && \
-    cd ../ && \
-    rm -rf opencv && \
-    PYTHON3_VERSION=`python3 -c 'import sys; version=sys.version_info[:3]; print("{0}.{1}".format(*version))'` && \
-    cp -r /usr/include/opencv4 /usr/local/include/opencv4 && \
-    cp -r /usr/lib/python${PYTHON3_VERSION}/dist-packages/cv2 /usr/local/lib/python${PYTHON3_VERSION}/dist-packages/cv2
-    
+COPY docker/containers/scripts/opencv_install.sh /tmp/opencv_install.sh
+RUN cd /tmp && ./opencv_install.sh ${OPENCV_URL} ${OPENCV_DEB}
+
     
 #
 # copy source
diff --git a/docker/build.sh b/docker/build.sh
index 94ac47387..99b5c21c8 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -13,32 +13,36 @@
 BASE_IMAGE=$1
 
 # find L4T_VERSION
-source tools/l4t-version.sh
+source docker/tag.sh
 
 if [ -z $BASE_IMAGE ]; then
-	if [ $L4T_VERSION = "34.1.0" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r34.1.0-pth1.12-py3"
-	elif [ $L4T_VERSION = "32.6.1" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3"
-	elif [ $L4T_VERSION = "32.5.1" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.5.0-pth1.6-py3"
-	elif [ $L4T_VERSION = "32.5.0" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.5.0-pth1.6-py3"
-	elif [ $L4T_VERSION = "32.4.4" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.4-pth1.6-py3"
-	elif [ $L4T_VERSION = "32.4.3" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.3-pth1.6-py3"
-	elif [ $L4T_VERSION = "32.4.2" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.2-pth1.5-py3"
-	else
-		echo "cannot automatically select l4t-pytorch base container for L4T R$L4T_VERSION"
-		echo "please specify it manually as:  docker/build.sh nvcr.io/nvidia/l4t-pytorch:<TAG>"
-		exit 1
+	if [ $ARCH = "aarch64" ]; then
+		if [ $L4T_VERSION = "34.1.0" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r34.1.0-pth1.12-py3"
+		elif [ $L4T_VERSION = "32.6.1" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3"
+		elif [ $L4T_VERSION = "32.5.1" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.5.0-pth1.6-py3"
+		elif [ $L4T_VERSION = "32.5.0" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.5.0-pth1.6-py3"
+		elif [ $L4T_VERSION = "32.4.4" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.4-pth1.6-py3"
+		elif [ $L4T_VERSION = "32.4.3" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.3-pth1.6-py3"
+		elif [ $L4T_VERSION = "32.4.2" ]; then
+			BASE_IMAGE="nvcr.io/nvidia/l4t-pytorch:r32.4.2-pth1.5-py3"
+		else
+			echo "cannot automatically select l4t-pytorch base container for L4T R$L4T_VERSION"
+			echo "please specify it manually as:  docker/build.sh nvcr.io/nvidia/l4t-pytorch:<TAG>"
+			exit 1
+		fi
+	elif [ $ARCH = "x86_64" ]; then
+		BASE_IMAGE="nvcr.io/nvidia/pytorch:22.04-py3"
 	fi
 fi
 
 echo "BASE_IMAGE=$BASE_IMAGE"
-echo "TAG=jetson-inference:r$L4T_VERSION"
+echo "TAG=$TAG"
 
 
 # sanitize workspace (so extra files aren't added to the container)
@@ -48,37 +52,14 @@ rm -rf python/training/classification/models/*
 rm -rf python/training/detection/ssd/data/*
 rm -rf python/training/detection/ssd/models/*
 
-
-# opencv.csv mounts files that preclude us installing different version of opencv
-# temporarily disable the opencv.csv mounts while we build the container
-CV_CSV="/etc/nvidia-container-runtime/host-files-for-container.d/opencv.csv"
-
-if [ -f "$CV_CSV" ]; then
-	sudo mv $CV_CSV $CV_CSV.backup
-fi
-	
 	
 # distro release-dependent build options 
-LSB_RELEASE=$(lsb_release --codename --short)
-
-OPENCV_URL="https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz"
-OPENCV_DEB="OpenCV-4.5.0-aarch64.tar.gz"
-
-if [ $LSB_RELEASE = "focal" ]; then
-	echo "configuring docker build for $LSB_RELEASE"
-	OPENCV_URL="https://nvidia.box.com/shared/static/2hssa5g3v28ozvo3tc3qwxmn78yerca9.gz"
-fi
+source docker/containers/scripts/opencv_version.sh
 	
 	
 # build the container
-sudo docker build -t jetson-inference:r$L4T_VERSION -f Dockerfile \
+sudo docker build -t $TAG -f Dockerfile \
           --build-arg BASE_IMAGE=$BASE_IMAGE \
 		--build-arg OPENCV_URL=$OPENCV_URL \
 		--build-arg OPENCV_DEB=$OPENCV_DEB \
 		.
-
-
-# restore opencv.csv mounts
-if [ -f "$CV_CSV.backup" ]; then
-	sudo mv $CV_CSV.backup $CV_CSV
-fi
diff --git a/docker/containers b/docker/containers
new file mode 160000
index 000000000..ddb1f28a7
--- /dev/null
+++ b/docker/containers
@@ -0,0 +1 @@
+Subproject commit ddb1f28a7dad3d002d6b6bed4b2bf50d96286077
diff --git a/docker/tag.sh b/docker/tag.sh
index 69687ccfd..96e46bfa9 100755
--- a/docker/tag.sh
+++ b/docker/tag.sh
@@ -1,53 +1,62 @@
 #!/usr/bin/env bash
 
 # find L4T_VERSION
-source tools/l4t-version.sh
+source docker/containers/scripts/l4t_version.sh
 
-# local container:tag name
-CONTAINER_IMAGE="jetson-inference:r$L4T_VERSION"
+if [ $ARCH = "aarch64" ]; then
+	# local container:tag name
+	CONTAINER_IMAGE="jetson-inference:r$L4T_VERSION"
 
-# incompatible L4T version
-function version_error()
-{
-	echo "cannot find compatible jetson-inference docker container for L4T R$L4T_VERSION"
-	echo "please upgrade to the latest JetPack, or build jetson-inference natively from source"
-	exit 1
-}
+	# incompatible L4T version
+	function version_error()
+	{
+		echo "cannot find compatible jetson-inference docker container for L4T R$L4T_VERSION"
+		echo "please upgrade to the latest JetPack, or build jetson-inference natively from source"
+		exit 1
+	}
 
-# get remote container URL
-if [ $L4T_RELEASE -eq 32 ]; then
-	if [ $L4T_REVISION_MAJOR -eq 4 ]; then
-	     if [ $L4T_REVISION_MINOR -gt 4 ]; then
-			CONTAINER_REMOTE_IMAGE="nvcr.io/ea-linux4tegra/$CONTAINER_IMAGE"
-		elif [ $L4T_REVISION_MINOR -ge 3 ]; then
+	# get remote container URL
+	if [ $L4T_RELEASE -eq 32 ]; then
+		if [ $L4T_REVISION_MAJOR -eq 4 ]; then
+			if [ $L4T_REVISION_MINOR -gt 4 ]; then
+				CONTAINER_REMOTE_IMAGE="nvcr.io/ea-linux4tegra/$CONTAINER_IMAGE"
+			elif [ $L4T_REVISION_MINOR -ge 3 ]; then
+				CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
+			else
+				version_error
+			fi
+		elif [ $L4T_REVISION_MAJOR -eq 5 ]; then
+			if [ $L4T_REVISION_MINOR -eq 0 ]; then
+				CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
+			elif [ $L4T_REVISION_MINOR -eq 1 ] || [ $L4T_REVISION_MINOR -eq 2 ]; then
+				# L4T R32.5.1 / R32.5.2 runs the R32.5.0 container
+				CONTAINER_IMAGE="jetson-inference:r32.5.0"
+				CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
+			else
+				CONTAINER_REMOTE_IMAGE="nvcr.io/ea-linux4tegra/$CONTAINER_IMAGE"
+			fi
+		elif [ $L4T_REVISION_MAJOR -gt 5 ]; then
 			CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
 		else
 			version_error
 		fi
-	elif [ $L4T_REVISION_MAJOR -eq 5 ]; then
-		if [ $L4T_REVISION_MINOR -eq 0 ]; then
-			CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
-	     elif [ $L4T_REVISION_MINOR -eq 1 ] || [ $L4T_REVISION_MINOR -eq 2 ]; then
-			# L4T R32.5.1 / R32.5.2 runs the R32.5.0 container
-			CONTAINER_IMAGE="jetson-inference:r32.5.0"
-			CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
-		else
-			CONTAINER_REMOTE_IMAGE="nvcr.io/ea-linux4tegra/$CONTAINER_IMAGE"
-		fi
-	elif [ $L4T_REVISION_MAJOR -gt 5 ]; then
+	elif [ $L4T_RELEASE -eq 34 ]; then
 		CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
 	else
 		version_error
 	fi
-elif [ $L4T_RELEASE -eq 34 ]; then
-	CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
-else
-	version_error
+	
+elif [ $ARCH = "x86_64" ]; then
+	# TODO:  add logic here for getting the latest release
+	CONTAINER_IMAGE="jetson-inference:22.06"
 fi
 	
+# TAG is always the local container name
+# CONTAINER_REMOTE_IMAGE is always the container name in NGC/dockerhub
+# CONTAINER_IMAGE is either local container name (if it exists on the system) or the remote image name
+TAG=$CONTAINER_IMAGE
+
 # check for local image
 if [[ "$(sudo docker images -q $CONTAINER_IMAGE 2> /dev/null)" == "" ]]; then
 	CONTAINER_IMAGE=$CONTAINER_REMOTE_IMAGE
 fi
-
-
diff --git a/tools/l4t-version.sh b/tools/l4t-version.sh
deleted file mode 100755
index 60d75d675..000000000
--- a/tools/l4t-version.sh
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/bin/bash
-#
-# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a
-# copy of this software and associated documentation files (the "Software"),
-# to deal in the Software without restriction, including without limitation
-# the rights to use, copy, modify, merge, publish, distribute, sublicense,
-# and/or sell copies of the Software, and to permit persons to whom the
-# Software is furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
-# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-# DEALINGS IN THE SOFTWARE.
-#
-
-L4T_VERSION_STRING=$(head -n 1 /etc/nv_tegra_release)
-
-if [ -z "$L4T_VERSION_STRING" ]; then
-	echo "reading L4T version from \"dpkg-query --show nvidia-l4t-core\""
-
-	L4T_VERSION_STRING=$(dpkg-query --showformat='${Version}' --show nvidia-l4t-core)
-	L4T_VERSION_ARRAY=(${L4T_VERSION_STRING//./ })	
-
-	#echo ${L4T_VERSION_ARRAY[@]}
-	#echo ${#L4T_VERSION_ARRAY[@]}
-
-	L4T_RELEASE=${L4T_VERSION_ARRAY[0]}
-	L4T_REVISION=${L4T_VERSION_ARRAY[1]}
-else
-	echo "reading L4T version from /etc/nv_tegra_release"
-
-	L4T_RELEASE=$(echo $L4T_VERSION_STRING | cut -f 2 -d ' ' | grep -Po '(?<=R)[^;]+')
-	L4T_REVISION=$(echo $L4T_VERSION_STRING | cut -f 2 -d ',' | grep -Po '(?<=REVISION: )[^;]+')
-fi
-
-L4T_REVISION_MAJOR=${L4T_REVISION:0:1}
-L4T_REVISION_MINOR=${L4T_REVISION:2:1}
-
-L4T_VERSION="$L4T_RELEASE.$L4T_REVISION"
-
-echo "L4T BSP Version:  L4T R$L4T_VERSION"
diff --git a/utils b/utils
index def4a04d0..a70a254a3 160000
--- a/utils
+++ b/utils
@@ -1 +1 @@
-Subproject commit def4a04d023960781a44f9cd97fd1464093becf0
+Subproject commit a70a254a33c317aef006289089a8f10e41fb6d61