diff --git a/.github/workflows/Ci.yml b/.github/workflows/Ci.yml
index b1c83a68d3..82c47228be 100644
--- a/.github/workflows/Ci.yml
+++ b/.github/workflows/Ci.yml
@@ -6,7 +6,18 @@ on:
   push:
     branches: [develop, master]
 jobs:
+  determine_docker_org_and_tag:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Determine Docker organization and tag
+        id: docker-org-and-tag
+        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
+    outputs:
+      docker_org: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
+      docker_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
+
   build:
+    needs: determine_docker_org_and_tag
     defaults:
       run:
         shell: bash
@@ -17,7 +28,7 @@ jobs:
 
     # Set up a Docker container for the job
     container:
-      image: usdotfhwastoldev/autoware.ai:develop
+      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }}
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
         ROS_2_ENV: "/opt/ros/foxy/setup.bash"
@@ -25,6 +36,16 @@ jobs:
       options: "--user root"
 
     steps:
+
+    - name: Determine base branch
+      id: determine-base-branch
+      run: |
+        if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
+          echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
+        else
+          echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
+        fi
+
     - name: Checkout ${{ github.event.repository.name }}
       # Check out the repository code
       uses: actions/checkout@v3.3.0
@@ -40,7 +61,7 @@ jobs:
       # Checkout project dependencies
       run: |
         source "$INIT_ENV"
-        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/
+        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
 
     - name: Install external dependencies
       # Install the multiple object tracking deps