diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml
new file mode 100644
index 0000000..2ff1078
--- /dev/null
+++ b/.github/workflows/coverage.yml
@@ -0,0 +1,55 @@
+name: Coverage
+
+on:
+  push:
+    branches: [ master, coverage ]
+    paths-ignore: '**.md'
+  pull_request:
+    branches: [ master, coverage ]
+    paths-ignore: '**.md'
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  coverage:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.GH_PAT }}
+          submodules: recursive
+      
+      - name: Install Dependencies
+        run: |
+          sudo apt-get -y update
+          sudo apt-get install -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev lcov
+          pip install -U setuptools pytest pytest-cov numpy scipy
+
+      - name: Build (C++)
+        run: |
+          mkdir build && cd build
+          cmake .. -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON -DENABLE_COVERAGE=ON
+          make -j$(nproc)
+      
+      - name: Test (C++)
+        run: |
+          cd build
+          ctest -j$(nproc)
+          make coverage
+
+      - name: Build (Python)
+        run: |
+          python3 setup.py build && python3 setup.py install --user
+
+      - name: Test (Python)
+        run: |
+          pytest src/example/basic_registration.py --cov=src --cov-report=xml
+      
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v4.0.1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          slug: koide3/small_gicp
+          files: build/coverage.info,coverage.xml
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b960f0e..c363e34 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,8 +45,8 @@ if(ENABLE_COVERAGE)
 
   add_custom_target(coverage
     COMMAND ${LCOV} --directory . --capture --output-file coverage.info
-    COMMAND ${LCOV} --remove coverage.info -o filtered_coverage.info '/usr/*'
-    COMMAND ${GENHTML} --demangle-cpp -o coverage filtered_coverage.info
+    COMMAND ${LCOV} --remove coverage.info -o coverage.info '/usr/*'
+    COMMAND ${GENHTML} --demangle-cpp -o coverage coverage.info
     WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
 endif()