diff --git a/docker/build/installers/install_doxygen.sh b/docker/build/installers/install_doxygen.sh
new file mode 100644
index 0000000000000000000000000000000000000000..1bf4ac4fee0756c3c870dca9977e1d04c079e562
--- /dev/null
+++ b/docker/build/installers/install_doxygen.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2020 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+# Fail on first error.
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+. /tmp/installers/installer_base.sh
+
+apt-get -y update && \
+    apt-get -y install \
+        flex \
+        bison
+
+VERSION="1_8_18"
+PKG_NAME="doxygen-Release_${VERSION}.tar.gz"
+CHECKSUM="9c88f733396dca16139483045d5afa5bbf19d67be0b8f0ea43c4e813ecfb2aa2"
+DOWNLOAD_LINK="https://github.com/doxygen/doxygen/archive/Release_${VERSION}.tar.gz"
+# https://github.com/doxygen/doxygen/archive/Release_1_8_18.tar.gz
+
+download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
+
+tar xzf "${PKG_NAME}"
+pushd "doxygen-Release_${VERSION}" >/dev/null
+    mkdir build && cd build
+    cmake .. \
+        -DCMAKE_INSTALL_PREFIX="${SYSROOT_DIR}" \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DBUILD_SHARED_LIBS=OFF
+
+    make -j$(nproc)
+    make install
+popd
+
+rm -rf "${PKG_NAME}" "doxygen-Release_${VERSION}"
+
+VERSION="$(echo ${VERSION} | tr '-' '.')"
+info "Done installing doxygen-${VERSION}"
diff --git a/docker/build/installers/install_gperftools.sh b/docker/build/installers/install_gperftools.sh
index e5ec0272abb24f5b69d656eac493dd7e4f1a424c..cf7afc7103a0175941152d6ee60cf8d3bc0fbf2c 100755
--- a/docker/build/installers/install_gperftools.sh
+++ b/docker/build/installers/install_gperftools.sh
@@ -39,6 +39,7 @@ tar xzf ${PKG_NAME}
 pushd "gperftools-gperftools-${VERSION}" >/dev/null
     ./autogen.sh
     ./configure --prefix=/usr
+    # shared lib only options: --enable-static=no --with-pic=yes
     make -j$(nproc)
     make install
 popd >/dev/null
diff --git a/docker/build/installers/install_qa_tools.sh b/docker/build/installers/install_qa_tools.sh
index 1df192b29a35b659518bd2932c4fa979ad078b05..9f7b7bad04f4c19dfe275e50ca3eb717d16df9f6 100755
--- a/docker/build/installers/install_qa_tools.sh
+++ b/docker/build/installers/install_qa_tools.sh
@@ -44,6 +44,11 @@ apt-get -y update && \
 
 bash /tmp/installers/install_gperftools.sh
 
+# TechDoc generation
+bash /tmp/installers/install_doxygen.sh
+
+# sphinx ?
+
 ## Pylint
 pip3_install pycodestyle \
     pyflakes \