I find a solution for this, we can use qemu-user-static to build arm64 docker image based on Ubuntu 18.04 Intel processor .
Modify the Dockerfile as follow:
FROM multiarch/qemu-user-static:x86_64-aarch64 as qemu #Add this line
FROM arm64v8/maven:3.5-jdk-8-slim AS build-env
COPY --from=qemu /usr/bin/qemu-aarch64-static /usr/bin #Add this line
RUN mvn org.apache.maven.plugins:maven-dependency-plugin:3.1.1:get -Dartifact=com.microsoft.azure.sdk.iot:iot-device-client:1.17.5 -DrepoUrl=https://repo.maven.apache.org/maven2/
WORKDIR /app
COPY . /app
RUN mvn install -Dmaven.test.skip=true
...