diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 455dcef5b729a6f8667882195c7234032d15ebd4..212afb5aef062fdd7f5ced0fdedb58d00d197e5c 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,7 +1,7 @@
 image: $CI_REGISTRY_IMAGE:$CI_COMMIT_REF_NAME
 
 variables:
-  OTBTF_VERSION: 3.3.3
+  OTBTF_VERSION: 3.4.0
   OTB_BUILD: /src/otb/build/OTB/build  # Local OTB build directory
   OTBTF_SRC: /src/otbtf  # Local OTBTF source directory
   OTB_TEST_DIR: $OTB_BUILD/Testing/Temporary  # OTB testing directory
diff --git a/Dockerfile b/Dockerfile
index 29211d3a4145f0d68ac275ca4dff84726be1b4aa..ddac99971f1e510365f41dd0ae4cba0e946a8f1b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -87,7 +87,7 @@ RUN git clone --single-branch -b $TF https://github.com/tensorflow/tensorflow.gi
 
 ### OTB
 ARG GUI=false
-ARG OTB=c8cde1f4b35c00613b1cff38ae64bdc02f82542c
+ARG OTB=5086d7601d80f2427f4d4d7f2398ec46e7efa300
 ARG OTBTESTS=false
 
 RUN mkdir /src/otb
diff --git a/README.md b/README.md
index bfa0b02fe076356472728bd9a6993b79668a326c..5b8bd66adc6e8b98d25a4eb376a80d485164304e 100644
--- a/README.md
+++ b/README.md
@@ -55,7 +55,7 @@ For now you have two options: either use the existing **docker image**, or build
 
 Use the latest CPU or GPU-enabled image from dockerhub:
 ```
-docker run mdl4eo/otbtf:3.3.3-cpu otbcli_PatchesExtraction -help
+docker run mdl4eo/otbtf:3.4.0-cpu otbcli_PatchesExtraction -help
 ```
 
 Read more in the [docker use documentation](doc/DOCKERUSE.md).
diff --git a/RELEASE_NOTES.txt b/RELEASE_NOTES.txt
index 94ef998a7dc77f5ab39dd5ad28ffbe36fb544a87..490538c24721dc74559aa6af5d7caff4d5b8afef 100644
--- a/RELEASE_NOTES.txt
+++ b/RELEASE_NOTES.txt
@@ -1,3 +1,7 @@
+Version 3.4.0 (22 mar 2023)
+----------------------------------------------------------------
+* Update OTB version to 5086d7601d80f2427f4d4d7f2398ec46e7efa300 (version 8.1.1 with bugfixes on in-memory connection with python bindings)
+
 Version 3.3.3 (3 nov 2022)
 ----------------------------------------------------------------
 * Update OTB version to c8cde1f4b35c00613b1cff38ae64bdc02f82542c (version 8.1.0 with extended filename bugfix)
diff --git a/doc/DOCKERUSE.md b/doc/DOCKERUSE.md
index 4f0e15f55bd68a3e0d8baadd25f2d5f57460c721..4c92b6144b29c33eb3f4f7bf9527deeebb24c555 100644
--- a/doc/DOCKERUSE.md
+++ b/doc/DOCKERUSE.md
@@ -7,12 +7,12 @@ Since OTBTF >= 3.2.1 you can find latest docker images on [gitlab.irstea.fr](htt
 
 | Name                                                                               | Os            | TF     | OTB   | Description            | Dev files | Compute capability |
 |------------------------------------------------------------------------------------| ------------- | ------ |-------| ---------------------- | --------- | ------------------ |
-| **mdl4eo/otbtf:3.3.3-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.3-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.3-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.3-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
-| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.3-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
-| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.3-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.4.0-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.4.0-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.4.0-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.4.0-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.4.0-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.4.0-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
 
 The list of older releases is available [here](#older-docker-releases).
 
@@ -37,7 +37,7 @@ For instance, suppose you have some data in `/mnt/my_device/` that you want to u
 The following command shows you how to access the folder from the docker image.
 
 ```bash
-docker run -v /mnt/my_device/:/data/ -ti mdl4eo/otbtf:3.3.3-cpu bash -c "ls /data"
+docker run -v /mnt/my_device/:/data/ -ti mdl4eo/otbtf:3.4.0-cpu bash -c "ls /data"
 ```
 Beware of ownership issues! see the last section of this doc.
 
@@ -50,13 +50,13 @@ You can then use the OTBTF `gpu` tagged docker images with the **NVIDIA runtime*
 With Docker version earlier than 19.03 :
 
 ```bash
-docker run --runtime=nvidia -ti mdl4eo/otbtf:3.3.3-gpu bash
+docker run --runtime=nvidia -ti mdl4eo/otbtf:3.4.0-gpu bash
 ```
 
 With Docker version including and after 19.03 :
 
 ```bash
-docker run --gpus all -ti mdl4eo/otbtf:3.3.3-gpu bash
+docker run --gpus all -ti mdl4eo/otbtf:3.4.0-gpu bash
 ```
 
 You can find some details on the **GPU docker image** and some **docker tips and tricks** on [this blog](https://mdl4eo.irstea.fr/2019/10/15/otbtf-docker-image-with-gpu/). 
@@ -69,7 +69,7 @@ Be careful though, these infos might be a bit outdated...
 1. Install [WSL2](https://docs.microsoft.com/en-us/windows/wsl/install-win10#manual-installation-steps) (Windows Subsystem for Linux)
 2. Install [docker desktop](https://www.docker.com/products/docker-desktop)
 3. Start **docker desktop** and **enable WSL2** from *Settings* > *General* then tick the box *Use the WSL2 based engine*
-3. Open a **cmd.exe** or **PowerShell** terminal, and type `docker create --name otbtf-cpu --interactive --tty mdl4eo/otbtf:3.3.3-cpu`
+3. Open a **cmd.exe** or **PowerShell** terminal, and type `docker create --name otbtf-cpu --interactive --tty mdl4eo/otbtf:3.4.0-cpu`
 4. Open **docker desktop**, and check that the docker is running in the **Container/Apps** menu
 ![Docker desktop, after the docker image is downloaded and ready to use](images/docker_desktop_1.jpeg)
 5. From **docker desktop**, click on the icon highlighted as shown below, and use the bash terminal that should pop up!
@@ -118,12 +118,12 @@ sudo systemctl {status,enable,disable,start,stop} docker
 Run a simple command in a one-shot container:
 
 ```bash
-docker run mdl4eo/otbtf:3.3.3-cpu otbcli_PatchesExtraction
+docker run mdl4eo/otbtf:3.4.0-cpu otbcli_PatchesExtraction
 ```
 
 You can also use the image in interactive mode with bash:
 ```bash
-docker run -ti mdl4eo/otbtf:3.3.3-cpu bash
+docker run -ti mdl4eo/otbtf:3.4.0-cpu bash
 ```
 
 ### Persistent container
@@ -133,7 +133,7 @@ Beware of ownership issues, see the last section of this doc.
 
 ```bash
 docker create --interactive --tty --volume /home/$USER:/home/otbuser/ \
-    --name otbtf mdl4eo/otbtf:3.3.3-cpu /bin/bash
+    --name otbtf mdl4eo/otbtf:3.4.0-cpu /bin/bash
 ```
 
 ### Interactive session
@@ -197,7 +197,7 @@ Create a named container (here with your HOME as volume), Docker will automatica
 
 ```bash
 docker create --interactive --tty --volume /home/$USER:/home/otbuser \
-    --name otbtf mdl4eo/otbtf:3.3.3-cpu /bin/bash
+    --name otbtf mdl4eo/otbtf:3.4.0-cpu /bin/bash
 ```
 
 Start a background container process:
@@ -265,16 +265,22 @@ Here you can find the list of older releases of OTBTF:
 | **mdl4eo/otbtf:3.1-gpu-dev**                                                       | Ubuntu Focal  | r2.8   | 7.4.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.1-gpu-opt**                                                       | Ubuntu Focal  | r2.8   | 7.4.0 | GPU                    | no        | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.1-gpu-opt-dev**                                                   | Ubuntu Focal  | r2.8   | 7.4.0 | GPU (dev)              | yes       | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.2-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.2-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.2-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
-| **mdl4eo/otbtf:3.3.2-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
-| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.2-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
-| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.2-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.3.0-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.3.0-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.3.0-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
 | **mdl4eo/otbtf:3.3.0-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
 | **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.0-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
 | **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.0-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.2-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.2-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.2-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.2-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.2-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.2-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.3-cpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.3-cpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | CPU, no optimization (dev) |  yes  | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.3-gpu**                                                         | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization   | no        | 5.2,6.1,7.0,7.5,8.6|
+| **mdl4eo/otbtf:3.3.3-gpu-dev**                                                     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU, no optimization (dev) | yes   | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.3-gpu-opt**     | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt.          | no        | 5.2,6.1,7.0,7.5,8.6|
+| **gitlab.irstea.fr/remi.cresson/otbtf/container_registry/otbtf:3.3.3-gpu-opt-dev** | Ubuntu Focal  | r2.8   | 8.1.0 | GPU with opt. (dev)    | yes       | 5.2,6.1,7.0,7.5,8.6|
 
diff --git a/setup.py b/setup.py
index 9a7f6eb05838c8129183d4ac285e822a5d0d0aba..35d216ae6c0dcec268a8839c52a88f84a7062e52 100644
--- a/setup.py
+++ b/setup.py
@@ -6,7 +6,7 @@ with open("README.md", "r", encoding="utf-8") as fh:
 
 setuptools.setup(
     name="otbtf",
-    version="3.3.2",
+    version="3.4.0",
     author="Remi Cresson",
     author_email="remi.cresson@inrae.fr",
     description="OTBTF: Orfeo ToolBox meets TensorFlow",