diff --git a/.github/workflows/tii-depthai-ctrl-coverity.yaml b/.github/workflows/tii-depthai-ctrl-coverity.yaml
index 89af33e..5ed842f 100644
--- a/.github/workflows/tii-depthai-ctrl-coverity.yaml
+++ b/.github/workflows/tii-depthai-ctrl-coverity.yaml
@@ -1,7 +1,7 @@
 name: tii-depthai-ctrl-coverity
 
 on:
-  repository_dispatch:
+  workflow_dispatch:
   push:
     branches:
       - main
@@ -11,26 +11,43 @@ jobs:
   coverity:
     runs-on: depthai-ctrl-self-hosted-coverity
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v2
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
         with:
           driver: docker
+
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: Dockerfile.coverity
           push: false
-          tags: dephai_ctrl_coverity:latest
+          tags: depthai_ctrl_coverity:latest
+
       - name: Run coverity scan
-        run:
-          docker run --rm -e PROJECT_NAME=${{ github.event.repository.name }} dephai_ctrl_coverity:latest
+        run: |
+          docker run --rm \
+          -e PROJECT_NAME=${{ github.event.repository.name }} \
+          -v "$(pwd):/main_ws/src" \
+          depthai_ctrl_coverity:latest
+
+      - name: Update summary
+        run: |
+          cat cov-analyze-result.txt >> $GITHUB_STEP_SUMMARY
+
+      - name: Upload coverity scan results
+        uses: actions/upload-artifact@v3
+        with:
+          name: coverity-html-report-${{ github.event.repository.name }}
+          path: coverity-output
diff --git a/Dockerfile.coverity b/Dockerfile.coverity
index 2eb5f57..c23bc9c 100644
--- a/Dockerfile.coverity
+++ b/Dockerfile.coverity
@@ -1,8 +1,22 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder-coverity:main
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-baseimage-builder-coverity:sha-4da4f0d AS builder
+
+RUN apt update \
+    && apt install -y --no-install-recommends \
+        curl
 
 RUN curl https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob \
     -o /tmp/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob
 
-COPY . /main_ws/src/
+# There is a file at /sdk_install/sysroots/core2-64-oe-linux/usr/include/depthai-shared/common/optional.hpp which has the
+# which has the line '#include "tl/optional.hpp"', change it to this with sed: '#include "depthai-shared/3rdparty/tl/optional.hpp"'
+RUN YOCTO_TARGET_ARCH=$(/packaging/arch_translation.sh ${TARGETARCH:-amd64}) && \
+    sed -i 's/#include "tl\/optional.hpp"/#include "depthai-shared\/3rdparty\/tl\/optional.hpp"/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/include/depthai-shared/common/optional.hpp && \
+    sed -i 's/#include "tl\/optional.hpp"/#include "depthai-shared\/3rdparty\/tl\/optional.hpp"/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/include/depthai/pipeline/Node.hpp
+
+# CV Bridge cmake file has host contamination, which leads to failure in the build.
+# This hardcoded path will be different for each of the build. So, the sed command should find the place using OpenCV_CONFIG_PATH and OpenCV_INSTALL_PATH tags
+RUN YOCTO_TARGET_ARCH=$(/packaging/arch_translation.sh ${TARGETARCH:-amd64}) && \
+    sed -i 's/set(OpenCV_CONFIG_PATH .*)/set(OpenCV_CONFIG_PATH \/sdk_install\/sysroots\/${YOCTO_TARGET_ARCH}-oe-linux\/usr\/lib\/cmake\/opencv4)/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/share/cv_bridge/cmake/cv_bridge-extras.cmake && \
+    sed -i 's/set(OpenCV_INSTALL_PATH .*)/set(OpenCV_INSTALL_PATH \/sdk_install\/sysroots\/${YOCTO_TARGET_ARCH}-oe-linux\/usr)/g' /sdk_install/sysroots/${YOCTO_TARGET_ARCH}-oe-linux/usr/share/cv_bridge/cmake/cv_bridge-extras.cmake
 
-RUN /packaging/build.sh
+WORKDIR /main_ws