diff --git a/README.md b/README.md
index c7a594e..9cb1481 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,21 @@
 
 This repository contains the Dockerfiles used to build the images for RobotHub apps.
 
+## Table of Contents
+
+- [Available Images](#available-images)
+- [Building Images](#building-images)
+  - [Scripts Overview](#scripts-overview)
+  - [Using the Scripts](#using-the-scripts)
+  - [Configuration: versions.conf](#configuration-versionsconf)
+  - [Dockerfiles](#dockerfiles)
+  - [Additional Scripts and Utilities](#additional-scripts-and-utilities)
+- [Automated Workflow](#automated-workflow)
+  - [Workflow Triggers](#workflow-triggers)
+  - [Key Jobs](#key-jobs)
+- [Making first app](#making-first-app)
+- [License](#license)
+
 ## Available Images
 
 > [!NOTE]
@@ -21,9 +36,123 @@ This repository contains the Dockerfiles used to build the images for RobotHub a
 
 - `ros2humble`: Ubuntu-based image for running RobotHub apps with ROS2 Humble installed
 
+
+## Building Images
+
+The `scripts` directory contains the scripts used to build and publish the images.
+
+```bash
+scripts
+├── build-images-base.sh
+├── build-images-core.sh
+├── build-images-custom.sh
+├── build-images.sh
+├── make-manifests.sh
+└── versions.conf
+```
+
+### Scripts Overview
+
+The build process is powered by a collection of scripts, each serving a unique purpose:
+
+- `build-images.sh`: The main script that orchestrates the build process.
+- `build-images-base.sh`: Focuses on different robot vision cores (RVCs) images based on the base image stored in:
+  - `dockerfiles/base.Dockerfile`
+  - `dockerfiles/depthai-v3-git/base.Dockerfile`
+- `build-images-core.sh`: Builds images for core image stored in `dockerfiles/core.Dockerfile`.
+- `build-images-custom.sh`: For custom application images (builtin-apps) stored in:
+  - `dockerfiles/custom/builtin-app.Dockerfile`
+  - `dockerfiles/custom/rae-provisioning-app.Dockerfile`
+  - `dockerfiles/depthai-v3-git/builtin-app.Dockerfile`
+- `make-manifests.sh`: Handles the creation of multi-arch manifests.
+
+### Using the Scripts
+
+The `build-images.sh` script is the primary script that orchestrates the build process. It calls other scripts to construct the images. For local testing, `build-images.sh` can be executed directly from the command line. To run this script locally, you must have `docker` installed.
+
+To perform a local build without pushing the images to a registry, you should comment out the `push` command in the bash scripts. This prevents the images from being uploaded, allowing you to test the build process and images locally.
+
+```bash
+export ARCH=amd64 # or arm64
+export IMAGE_REF_NAME=robothub-app-v2 # or robothub-app-v2-dev
+export IMAGE_VERSION=$(date +%Y.%j.%H%M)
+
+./scripts/build-images.sh
+```
+
+### Configuration: `versions.conf`
+
+The `versions.conf` file is used to manage and specify the versions of dependencies for different Robotics Vision Core (RVC) devices within the RobotHub Images project.
+
+To update or change the version of `depthai` or any other dependency for a specific RVC device, modify the corresponding entry in the `versions.conf` file.
+
+Each line in `versions.conf` specifies a device identifier followed by the versions of its dependencies, separated by commas. The general format is:
+```bash
+<robotics_vision_core>=<depthai_version>,<depthai_sdk_version>
+```
+
+### Dockerfiles
+
+The `dockerfiles` directory contains the Dockerfiles used to build the images.
+
+```bash
+dockerfiles
+├── base.Dockerfile
+├── core.Dockerfile
+├── custom
+│   ├── builtin-app.Dockerfile
+│   └── rae-provisioning-app.Dockerfile
+└── depthai-v3-git
+    ├── base.Dockerfile
+    └── builtin-app.Dockerfile
+```
+
+### Additional Scripts and Utilities
+
+The `context` directory also contains additional scripts and utilities used to support the build process.
+
+```bash
+context
+├── download-patched-libusb
+├── install-depthai-from-git
+├── install-depthai-version
+├── install-luxonis-packages
+├── requirements-builtin-app.txt
+├── requirements-minimal.txt
+├── requirements-rae-provisioning-app.txt
+└── requirements-regular.txt
+
+```
+
+## Automated Workflow
+
+The GitHub Actions workflow `publish-images.yml` orchestrates the build and publish process, utilizing scripts to generate different Docker images.
+
+### Workflow Triggers
+The workflow is configured with two triggers that influence the naming convention of the docker images:
+
+- **Manual (`workflow_dispatch`)**: Initiates an on-demand build process.
+  - Images built from manual triggers are tagged with `dev` in their names, designated as `robothub-app-v2-dev`, indicating development versions.
+  - To trigger a manual build:
+    - navigate to the [Actions](https://github.com/luxonis/robothub-images/actions/workflows/publish-images.yml) tab 
+    - click the `Run workflow` button
+    - select a branch to build from (e.g. `main`)
+    - click the `Run workflow` button to initiate the build process
+
+
+- **Release (`release`)**: Automatically triggered when a new release is published.
+  - Release-triggered builds are tagged as `robothub-app-v2`, representing stable, production-ready versions.
+
+### Key Jobs
+
+1. **Generate Image Version**: Dynamically creates a version tag for the images from the build date and time.
+2. **Build & Push Images**: Leverages multiple scripts to build images for different architectures and pushes them to GitHub Packages.
+3. **Make Multi-Arch Manifests**: Consolidates images into multi-architecture manifests, facilitating platform-agnostic pulls.
+
+
 ## Making first app
 
-Please visit [RobotHub documentation page](https://docs-beta.luxonis.com/develop/quick-start) for more information about how to make your
+Please visit [RobotHub documentation page](https://docs-beta.luxonis.com/develop/prepare-env/) for more information about how to make your
 first app.
 
 ## License
diff --git a/context/install-depthai-from-git b/context/install-depthai-from-git
new file mode 100755
index 0000000..e1ac5d4
--- /dev/null
+++ b/context/install-depthai-from-git
@@ -0,0 +1,51 @@
+#!/bin/bash
+set -Eeux
+
+# Check if the correct number of arguments is provided
+if [[ $# -ne 1 ]]; then
+    echo "Usage: $0 <depthai-git-version>"
+    exit 1
+fi
+
+DEPTHAI_GIT_VERSION=$1
+echo "Received DepthAI Git version: $DEPTHAI_GIT_VERSION"
+
+# Verify that the version starts with 'git+'
+if [[ $DEPTHAI_GIT_VERSION != git+* ]]; then
+    echo "Error: DepthAI version must be a Git URL"
+    exit 1
+fi
+
+# Install necessary build tools and dependencies for compiling the DepthAI Python package from source
+apt-get update -qq && \
+apt-get install -qq --no-install-recommends \
+python3 python3-dev python3-pip \
+ca-certificates \
+git \
+wget \
+cmake \
+make \
+build-essential && \
+pip3 install mypy && \
+rm -rf /var/lib/apt/lists/*
+
+# Parse the Git URL and Branch from the version string
+GIT_URL=${DEPTHAI_GIT_VERSION/git+/}
+BRANCH=${GIT_URL##*@}
+GIT_URL=${GIT_URL%@*}
+echo "Cloning from Git URL: $GIT_URL, Branch: $BRANCH"
+
+
+# Clone the DepthAI Git repository
+echo "Cloning DepthAI from Git..."
+git clone --branch "$BRANCH" --recurse-submodules "$GIT_URL" depthai-python || { echo "Git clone failed"; exit 1; }
+
+# Navigate to the cloned directory
+echo "Navigating to cloned directory..."
+cd depthai-python || { echo "Failed to enter depthai-python directory"; exit 1; }
+
+# Build and install the package
+echo "Building and installing the DepthAI package..."
+pip3 install . --verbose || { echo "DepthAI installation failed"; exit 1; }
+
+echo "DepthAI installation from Git completed successfully."
diff --git a/context/install-depthai-version b/context/install-depthai-version
index f929230..6b1b2f1 100755
--- a/context/install-depthai-version
+++ b/context/install-depthai-version
@@ -8,7 +8,7 @@ fi
 DEPTHAI_VERSION=$1
 
 echo "Installing depthai version: ${DEPTHAI_VERSION}"
-pip3 install --no-deps --no-cache-dir --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==${DEPTHAI_VERSION}
+pip3 install --no-deps --no-cache-dir --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai=="${DEPTHAI_VERSION}"
 
 echo "Patching depthai installation..."
 find /usr/local/lib/python3.10/dist-packages/depthai.libs -type f -name "libusb*.so" -print -exec cp /lib/libusb-1.0.so {} \;
diff --git a/context/install-luxonis-packages b/context/install-luxonis-packages
index 15e226b..6c10e6c 100755
--- a/context/install-luxonis-packages
+++ b/context/install-luxonis-packages
@@ -1,21 +1,24 @@
 #!/bin/bash
 
+# Check for correct number of arguments
 if [[ $# -ne 3 ]]; then
-    echo "Usage: $0 [robotics-vision-core] [depthai-sdk-version] [robothub-version]"
-    echo "robotics-vision-core: rvc2, rvc3"
+    echo "Usage: $0 <robotics-vision-core> <robothub-version> <depthai-sdk-version>"
+    echo "robotics-vision-core: rvc2, rvc3, rvc2-depthaiV3"
     exit 1
 fi
 
 ROBOTICS_VISION_CORE=$1
-DEPTHAI_SDK_VERSION=$2
-ROBOTHUB_VERSION=$3
+ROBOTHUB_VERSION=$2
+DEPTHAI_SDK_VERSION=$3
 
-if [[ "$ROBOTICS_VISION_CORE" == "rvc2" ]]; then
-    pip3 install --no-deps --no-cache-dir depthai-sdk==${DEPTHAI_SDK_VERSION}
-    pip3 install --no-deps --no-cache-dir robothub==${ROBOTHUB_VERSION}
+# Install robothub
+pip3 install --no-deps --no-cache-dir "robothub==${ROBOTHUB_VERSION}"
+
+# Install depthai-sdk based on the robotics-vision-core
+if [[ "$ROBOTICS_VISION_CORE" == "rvc2" || "$ROBOTICS_VISION_CORE" == "rvc2-depthaiV3" ]]; then
+    pip3 install --no-deps --no-cache-dir "depthai-sdk==${DEPTHAI_SDK_VERSION}"
 elif [[ "$ROBOTICS_VISION_CORE" == "rvc3" ]]; then
     pip3 install --no-deps --no-cache-dir "git+https://github.com/luxonis/depthai.git@${DEPTHAI_SDK_VERSION}#subdirectory=depthai_sdk"
-    pip3 install --no-deps --no-cache-dir robothub==${ROBOTHUB_VERSION}
 else
     echo "Unknown ROBOTICS_VISION_CORE: ${ROBOTICS_VISION_CORE}"
     exit 1
diff --git a/dockerfiles/base.Dockerfile b/dockerfiles/base.Dockerfile
index eb7de67..9fb6194 100644
--- a/dockerfiles/base.Dockerfile
+++ b/dockerfiles/base.Dockerfile
@@ -33,7 +33,7 @@ RUN /tmp/download-patched-libusb ${TARGETARCH}
 
 # Install luxonis packages
 COPY install-luxonis-packages /tmp/
-RUN /tmp/install-luxonis-packages ${ROBOTICS_VISION_CORE} ${DEPTHAI_SDK_VERSION} ${ROBOTHUB_VERSION}
+RUN /tmp/install-luxonis-packages ${ROBOTICS_VISION_CORE} ${ROBOTHUB_VERSION} ${DEPTHAI_SDK_VERSION}
 
 # Install python3 packages
 COPY requirements-${VARIANT}.txt /tmp/
@@ -49,4 +49,5 @@ COPY --from=build /usr/local/lib/python3.10/dist-packages /usr/local/lib/python3
 # Install depthai
 COPY --from=build /lib/libusb-1.0.so /lib/libusb-1.0.so
 COPY install-depthai-version /usr/local/bin
+
 RUN install-depthai-version ${DEPTHAI_VERSION}
diff --git a/dockerfiles/depthai-v3-git/base.Dockerfile b/dockerfiles/depthai-v3-git/base.Dockerfile
new file mode 100644
index 0000000..0e72160
--- /dev/null
+++ b/dockerfiles/depthai-v3-git/base.Dockerfile
@@ -0,0 +1,50 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE} AS base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV PYTHONPATH=/lib \
+    PYTHONUNBUFFERED=1 \
+    PYTHONDONTWRITEBYTECODE=1
+
+# Install python3
+RUN apt-get update -qq && \
+    apt-get install -qq --no-install-recommends python3 python3-pip && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM base AS build
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG TARGETARCH
+ARG DEPTHAI_VERSION
+ARG ROBOTICS_VISION_CORE
+ARG DEPTHAI_VERSION
+ARG DEPTHAI_SDK_VERSION
+ARG ROBOTHUB_VERSION
+ARG VARIANT
+
+COPY install-depthai-from-git /tmp/
+RUN /tmp/install-depthai-from-git ${DEPTHAI_VERSION}
+
+# Download patched libusb
+COPY download-patched-libusb /tmp/
+RUN /tmp/download-patched-libusb ${TARGETARCH}
+
+# Install luxonis packages: depthai-sdk, robothub
+COPY install-luxonis-packages /tmp/
+RUN /tmp/install-luxonis-packages ${ROBOTICS_VISION_CORE} ${ROBOTHUB_VERSION} ${DEPTHAI_SDK_VERSION}
+
+# Install python3 packages
+COPY requirements-${VARIANT}.txt /tmp/
+RUN pip3 install --no-cache-dir --only-binary=:all: -r /tmp/requirements-${VARIANT}.txt
+
+FROM base
+
+ARG DEPTHAI_VERSION
+
+# Copy python3 packages
+COPY --from=build /usr/local/lib/python3.10/dist-packages /usr/local/lib/python3.10/dist-packages
+
+# Install depthai
+COPY --from=build /lib/libusb-1.0.so /lib/libusb-1.0.so
diff --git a/dockerfiles/depthai-v3-git/builtin-app.Dockerfile b/dockerfiles/depthai-v3-git/builtin-app.Dockerfile
new file mode 100644
index 0000000..ada4a81
--- /dev/null
+++ b/dockerfiles/depthai-v3-git/builtin-app.Dockerfile
@@ -0,0 +1,40 @@
+FROM ubuntu:22.04 AS base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ENV PYTHONPATH=/lib \
+    PYTHONUNBUFFERED=1 \
+    PYTHONDONTWRITEBYTECODE=1
+
+# Install python3
+RUN apt-get update -qq && \
+    apt-get install -qq --no-install-recommends python3 python3-pip && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM base AS build
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG TARGETARCH
+ARG DEPTHAI_VERSION
+
+# Install dependencies
+RUN apt-get update -qq  && \
+    apt-get install -qq --no-install-recommends ca-certificates wget && \
+    rm -rf /var/lib/apt/lists/*
+
+# Download patched libusb
+COPY download-patched-libusb /tmp/
+RUN /tmp/download-patched-libusb ${TARGETARCH}
+
+# Install depthai
+COPY install-depthai-from-git /usr/local/bin
+RUN install-depthai-from-git ${DEPTHAI_VERSION}
+
+# Install python3 packages
+COPY requirements-builtin-app.txt /tmp/
+RUN pip3 install --no-cache-dir --only-binary=:all: -r /tmp/requirements-builtin-app.txt
+
+FROM base
+
+# Copy python3 packages
+COPY --from=build /usr/local/lib/python3.10/dist-packages /usr/local/lib/python3.10/dist-packages
diff --git a/scripts/build-images-base.sh b/scripts/build-images-base.sh
index 92bab94..f1df525 100755
--- a/scripts/build-images-base.sh
+++ b/scripts/build-images-base.sh
@@ -1,71 +1,105 @@
 #!/bin/bash
 set -Eeux
 
-declare -a elems=(
-    "rvc2 ubuntu:22.04 minimal"
-    "rvc2 ubuntu:22.04 regular"
-    "rvc2 ros:humble-ros-core minimal"
-    "rvc2 ros:humble-ros-base regular"
-    "rvc3 ubuntu:22.04 minimal"
-    "rvc3 ubuntu:22.04 regular"
-    "rvc3 ros:humble-ros-core minimal"
-    "rvc3 ros:humble-ros-base regular"
-)
+declare -A versions
+CONFIG_FILE="scripts/versions.conf"
+if [ ! -f "${CONFIG_FILE}" ]; then
+    echo "The file ${CONFIG_FILE} does not exist."
+    exit 1
+fi
 
-for elem in "${elems[@]}"; do
-    # Define base parameters
-    read -a strarr <<<"$elem"
-    ROBOTICS_VISION_CORE=${strarr[0]}
-    BASE_IMAGE=${strarr[1]}
-    VARIANT=${strarr[2]}
-
-    # Derive remaining parameters
-    DEPTHAI_VERSION=""
-    DEPTHAI_SDK_VERSION=""
-    if [[ "${ROBOTICS_VISION_CORE}" == "rvc2" ]]; then
-        DEPTHAI_VERSION="2.22.0.0.dev0+4f65e787340f0c83f8c03619d240bbb8af1260df"
-        DEPTHAI_SDK_VERSION="1.12.1"
-    elif [[ "${ROBOTICS_VISION_CORE}" == "rvc3" ]]; then
-        DEPTHAI_VERSION="2.22.0.0.dev0+8b9eceb316ce60d57d9157ecec48534b548e8904"
-        DEPTHAI_SDK_VERSION="d188eec84fded7ea10a3dc124db7da433a2a3578"
-    else
-        echo "Unknown ROBOTICS_VISION_CORE: ${ROBOTICS_VISION_CORE}"
-        continue
+echo "Reading versions from ${CONFIG_FILE}..."
+while IFS='=' read -r key value; do
+    versions[$key]=$value
+done < "${CONFIG_FILE}"
+
+# Define base parameters
+ROBOTHUB_VERSION="2.4.0"
+
+build_and_push_image() {
+    local robotics_vision_core=$1
+    local base_image=$2
+    local variant=$3
+    local dockerfile=$4
+
+    IFS=',' read -r depthai_version depthai_sdk_version <<< "${versions[${robotics_vision_core}]}"
+    if [ -z "${depthai_version}" ]; then
+        echo "No version found for ${robotics_vision_core} in ${CONFIG_FILE}"
+        return
     fi
-    ROBOTHUB_VERSION="2.4.0"
 
-    TAG="${BASE_TAG}-${ROBOTICS_VISION_CORE}-${VARIANT}"
-    if [[ "${BASE_IMAGE}" == "ros:humble-ros-core" || "${BASE_IMAGE}" == "ros:humble-ros-base" ]]; then
-        TAG="${TAG}-ros2humble"
+    local tag="${BASE_TAG}-${robotics_vision_core}-${variant}"
+    if [[ "${base_image}" == "ros:humble-ros-core" || "${base_image}" == "ros:humble-ros-base" ]]; then
+        tag="${tag}-ros2humble"
     fi
 
-    # Build
     echo "================================"
-    echo "Building '${TAG}'..."
-    echo "=> Depthai version: ${DEPTHAI_VERSION}"
-    echo "=> Depthai SDK version: ${DEPTHAI_SDK_VERSION}"
+    echo "Building '${tag}'..."
+    echo "=> Depthai version: ${depthai_version}"
+    echo "=> Depthai SDK version: ${depthai_sdk_version}"
     echo "=> RobotHub version: ${ROBOTHUB_VERSION}"
     echo "================================"
 
+    LABELS=(
+        "--label" "org.opencontainers.image.source=https://github.com/luxonis/robothub-images"
+        "--label" "org.opencontainers.image.version=${tag}"
+        "--label" "org.opencontainers.image.vendor=Luxonis"
+        "--label" "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}"
+        "--label" "org.opencontainers.image.title=RobotHub App base image"
+        "--label" "org.opencontainers.image.description=DepthAI version: ${depthai_version}"
+        "--label" "com.luxonis.rh.depthai.version=${depthai_version}"
+        "--label" "com.luxonis.rh.robothub.version=${ROBOTHUB_VERSION}"
+    )
+
+    BUILD_ARGS=(
+        "--build-arg" "BASE_IMAGE=${base_image}"
+        "--build-arg" "ROBOTICS_VISION_CORE=${robotics_vision_core}"
+        "--build-arg" "DEPTHAI_SDK_VERSION=${depthai_sdk_version}"
+        "--build-arg" "DEPTHAI_VERSION=${depthai_version}"
+        "--build-arg" "ROBOTHUB_VERSION=${ROBOTHUB_VERSION}"
+        "--build-arg" "VARIANT=${variant}"
+    )
+
+    # Check if the Robotics Vision Core version is not rvc2-depthaiV3
+    if [[ "${robotics_vision_core}" != "rvc2-depthaiV3" ]]; then
+        LABELS+=("--label" "com.luxonis.rh.depthai-sdk.version=${depthai_sdk_version}")
+    fi
+
     docker buildx build \
-        --build-arg "BASE_IMAGE=${BASE_IMAGE}" \
-        --build-arg "ROBOTICS_VISION_CORE=${ROBOTICS_VISION_CORE}" \
-        --build-arg "DEPTHAI_VERSION=${DEPTHAI_VERSION}" \
-        --build-arg "DEPTHAI_SDK_VERSION=${DEPTHAI_SDK_VERSION}" \
-        --build-arg "ROBOTHUB_VERSION=${ROBOTHUB_VERSION}" \
-        --build-arg "VARIANT=${VARIANT}" \
-        --label "org.opencontainers.image.source=https://github.com/luxonis/robothub-images" \
-        --label "org.opencontainers.image.version=${IMAGE_VERSION}" \
-        --label "org.opencontainers.image.vendor=Luxonis" \
-        --label "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}" \
-        --label "org.opencontainers.image.title=RobotHub App base image" \
-        --label "org.opencontainers.image.description=DepthAI version: ${DEPTHAI_VERSION}" \
-        --label "com.luxonis.rh.depthai.version=${DEPTHAI_VERSION}" \
-        --label "com.luxonis.rh.depthai-sdk.version=${DEPTHAI_SDK_VERSION}" \
-        --label "com.luxonis.rh.robothub.version=${ROBOTHUB_VERSION}" \
-        --tag "${TAG}" \
-        --push \
-        --provenance=false \
-        --file dockerfiles/base.Dockerfile \
-        context/
+    "${BUILD_ARGS[@]}" \
+    "${LABELS[@]}" \
+    --tag "${tag}" \
+    --push \
+    --provenance=false \
+    --file "dockerfiles/${dockerfile}" \
+    context/
+}
+
+# Define base parameters
+BASE_DOCKERFILE="base.Dockerfile"
+DEPTHAI_V3_DOCKERFILE_CONTEXT="depthai-v3-git"
+
+declare -a elems=(
+    # RVC2 - DepthAI from registry:
+    "rvc2 ubuntu:22.04 minimal ${BASE_DOCKERFILE}"
+    "rvc2 ubuntu:22.04 regular ${BASE_DOCKERFILE}"
+    "rvc2 ros:humble-ros-core minimal ${BASE_DOCKERFILE}"
+    "rvc2 ros:humble-ros-base regular ${BASE_DOCKERFILE}"
+
+    # RVC3 - DepthAI from registry:
+    "rvc3 ubuntu:22.04 minimal ${BASE_DOCKERFILE}"
+    "rvc3 ubuntu:22.04 regular ${BASE_DOCKERFILE}"
+    "rvc3 ros:humble-ros-core minimal ${BASE_DOCKERFILE}"
+    "rvc3 ros:humble-ros-base regular ${BASE_DOCKERFILE}"
+
+    # RVC2 - DepthAI V3 - built from source:
+    "rvc2-depthaiV3 ubuntu:22.04 minimal ${DEPTHAI_V3_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+    "rvc2-depthaiV3 ubuntu:22.04 regular ${DEPTHAI_V3_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+    "rvc2-depthaiV3 ros:humble-ros-core minimal ${DEPTHAI_V3_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+    "rvc2-depthaiV3 ros:humble-ros-base regular ${DEPTHAI_V3_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+)
+
+for elem in "${elems[@]}"; do
+    read -ra strarr <<<"$elem"
+    build_and_push_image "${strarr[0]}" "${strarr[1]}" "${strarr[2]}" "${strarr[3]}"
 done
diff --git a/scripts/build-images-custom.sh b/scripts/build-images-custom.sh
index fbc5853..3c14c25 100755
--- a/scripts/build-images-custom.sh
+++ b/scripts/build-images-custom.sh
@@ -1,74 +1,58 @@
 #!/bin/bash
 set -Eeux
 
-########
-# RVC2 #
-########
+declare -A versions
+CONFIG_FILE="scripts/versions.conf"
+if [ ! -f "${CONFIG_FILE}" ]; then
+    echo "The file ${CONFIG_FILE} does not exist."
+    exit 1
+fi
 
-DEPTHAI_VERSION="2.22.0.0.dev0+4f65e787340f0c83f8c03619d240bbb8af1260df"
+echo "Reading versions from ${CONFIG_FILE}..."
+while IFS='=' read -r key value; do
+    versions[$key]=$value
+done < "${CONFIG_FILE}"
 
-RVC2_BUILTIN_APP_TAG="${BASE_TAG}-rvc2-builtin-app"
-echo "================================"
-echo "Building '${RVC2_BUILTIN_APP_TAG}'..."
-echo "=> Depthai version: ${DEPTHAI_VERSION}"
-echo "================================"
-docker buildx build \
-    --build-arg "DEPTHAI_VERSION=${DEPTHAI_VERSION}" \
-    --label "org.opencontainers.image.source=https://github.com/luxonis/robothub-images" \
-    --label "org.opencontainers.image.version=${IMAGE_VERSION}" \
-    --label "org.opencontainers.image.vendor=Luxonis" \
-    --label "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}" \
-    --label "org.opencontainers.image.title=RobotHub RVC2 builtin app image" \
-    --label "org.opencontainers.image.description=DepthAI version: ${DEPTHAI_VERSION}" \
-    --label "com.luxonis.rh.depthai.version=${DEPTHAI_VERSION}" \
-    --tag "${RVC2_BUILTIN_APP_TAG}" \
-    --push \
-    --provenance=false \
-    --file dockerfiles/custom/builtin-app.Dockerfile \
-    context/
 
-########
-# RVC3 #
-########
+build_and_push_image() {
+    local version_key=$1
+    local tag_suffix=$2
+    local dockerfile=$3
 
-DEPTHAI_VERSION="2.22.0.0.dev0+8b9eceb316ce60d57d9157ecec48534b548e8904"
+    IFS=',' read -r depthai_version _ <<< "${versions[${version_key}]}"
 
-RVC3_BUILTIN_APP_TAG="${BASE_TAG}-rvc3-builtin-app"
-echo "================================"
-echo "Building '${RVC3_BUILTIN_APP_TAG}'..."
-echo "=> Depthai version: ${DEPTHAI_VERSION}"
-echo "================================"
-docker buildx build \
-    --build-arg "DEPTHAI_VERSION=${DEPTHAI_VERSION}" \
-    --label "org.opencontainers.image.source=https://github.com/luxonis/robothub-images" \
-    --label "org.opencontainers.image.version=${IMAGE_VERSION}" \
-    --label "org.opencontainers.image.vendor=Luxonis" \
-    --label "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}" \
-    --label "org.opencontainers.image.title=RobotHub RVC3 builtin app image" \
-    --label "org.opencontainers.image.description=DepthAI version: ${DEPTHAI_VERSION}" \
-    --label "com.luxonis.rh.depthai.version=${DEPTHAI_VERSION}" \
-    --tag "${RVC3_BUILTIN_APP_TAG}" \
-    --push \
-    --provenance=false \
-    --file dockerfiles/custom/builtin-app.Dockerfile \
-    context/
+    if [ -z "${depthai_version}" ]; then
+        echo "No version found for ${version_key} in ${CONFIG_FILE}"
+        return
+    fi
 
-RAE_PROVISIONING_APP_TAG="${BASE_TAG}-rae-provisioning-app"
-echo "================================"
-echo "Building '${RAE_PROVISIONING_APP_TAG}'..."
-echo "=> Depthai version: ${DEPTHAI_VERSION}"
-echo "================================"
-docker buildx build \
-    --build-arg "DEPTHAI_VERSION=${DEPTHAI_VERSION}" \
-    --label "org.opencontainers.image.source=https://github.com/luxonis/robothub-images" \
-    --label "org.opencontainers.image.version=${IMAGE_VERSION}" \
-    --label "org.opencontainers.image.vendor=Luxonis" \
-    --label "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}" \
-    --label "org.opencontainers.image.title=RobotHub RAE provisioning app image" \
-    --label "org.opencontainers.image.description=DepthAI version: ${DEPTHAI_VERSION}" \
-    --label "com.luxonis.rh.depthai.version=${DEPTHAI_VERSION}" \
-    --tag "${RAE_PROVISIONING_APP_TAG}" \
-    --push \
-    --provenance=false \
-    --file dockerfiles/custom/rae-provisioning-app.Dockerfile \
-    context/
+    local tag="${BASE_TAG}-${tag_suffix}"
+    echo "================================"
+    echo "Building '${tag}'..."
+    echo "=> Depthai version: ${depthai_version}"
+    echo "================================"
+
+    docker buildx build \
+        --build-arg "DEPTHAI_VERSION=${depthai_version}" \
+        --label "org.opencontainers.image.source=https://github.com/luxonis/robothub-images" \
+        --label "org.opencontainers.image.version=${IMAGE_VERSION}" \
+        --label "org.opencontainers.image.vendor=Luxonis" \
+        --label "org.opencontainers.image.ref.name=${IMAGE_REF_NAME}" \
+        --label "org.opencontainers.image.title=RobotHub ${tag_suffix} image" \
+        --label "org.opencontainers.image.description=DepthAI version: ${depthai_version}" \
+        --label "com.luxonis.rh.depthai.version=${depthai_version}" \
+        --tag "${tag}" \
+        --push \
+        --provenance=false \
+        --file "dockerfiles/${dockerfile}" \
+        context/
+}
+
+BASE_DOCKERFILE="builtin-app.Dockerfile"
+CUSTOM_DOCKERFILE_CONTEXT="custom"
+build_and_push_image "rvc2" "rvc2-builtin-app" "${CUSTOM_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+build_and_push_image "rvc3" "rvc3-builtin-app" "${CUSTOM_DOCKERFILE_CONTEXT}/${BASE_DOCKERFILE}"
+build_and_push_image "rvc3" "rae-provisioning-app" "${CUSTOM_DOCKERFILE_CONTEXT}/rae-provisioning-app.Dockerfile"
+
+# Build images for RVC2 DepthAI V3:
+build_and_push_image "rvc2-depthaiV3" "rvc2-depthaiV3-builtin-app" "depthai-v3-git/${BASE_DOCKERFILE}"
diff --git a/scripts/make-manifests.sh b/scripts/make-manifests.sh
index ebe4f2e..787b191 100755
--- a/scripts/make-manifests.sh
+++ b/scripts/make-manifests.sh
@@ -12,11 +12,16 @@ declare -a suffixes=(
     "rvc2-regular"
     "rvc2-minimal-ros2humble"
     "rvc2-regular-ros2humble"
+    "rvc2-depthaiV3-minimal"
+    "rvc2-depthaiV3-regular"
+    "rvc2-depthaiV3-minimal-ros2humble"
+    "rvc2-depthaiV3-regular-ros2humble"
     "rvc3-minimal"
     "rvc3-regular"
     "rvc3-minimal-ros2humble"
     "rvc3-regular-ros2humble"
     "rvc2-builtin-app"
+    "rvc2-depthaiV3-builtin-app"
     "rvc3-builtin-app"
     "rae-provisioning-app"
 )
diff --git a/scripts/versions.conf b/scripts/versions.conf
new file mode 100644
index 0000000..f8f9dbf
--- /dev/null
+++ b/scripts/versions.conf
@@ -0,0 +1,3 @@
+rvc2=2.22.0.0.dev0+4f65e787340f0c83f8c03619d240bbb8af1260df,1.12.1
+rvc2-depthaiV3=git+https://github.com/luxonis/depthai-python.git@preV3,1.12.1
+rvc3=2.22.0.0.dev0+8b9eceb316ce60d57d9157ecec48534b548e8904,d188eec84fded7ea10a3dc124db7da433a2a3578