diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 1aaa3f5f..9b2f005b 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -17,6 +17,20 @@ jobs:
       -
         name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+      -
+        name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      -
+        name: Build estimator base
+        uses: docker/build-push-action@v6
+        with:
+          file: Dockerfile.estimator.base
+          push: true
+          tags: ghcr.io/yadunund/ibpc/estimator-base:latest
       -
         name: Build estimator
         uses: docker/build-push-action@v6
diff --git a/Dockerfile.estimator b/Dockerfile.estimator
index a5df2fb9..51da47ca 100644
--- a/Dockerfile.estimator
+++ b/Dockerfile.estimator
@@ -1,4 +1,4 @@
-FROM ros:jazzy-perception AS base
+FROM ghcr.io/yadunund/ibpc/estimator-base:latest AS base
 
 SHELL [ "/bin/bash" , "-c" ]
 
diff --git a/Dockerfile.estimator.base b/Dockerfile.estimator.base
new file mode 100644
index 00000000..e656c71d
--- /dev/null
+++ b/Dockerfile.estimator.base
@@ -0,0 +1,34 @@
+FROM ros:jazzy-perception AS base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prerequisites
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    wget software-properties-common gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Enable contrib on debian to get required
+# https://packages.debian.org/bullseye/glx-alternative-nvidia
+
+# Remove cuda from base image for disk space savings
+# RUN \
+#   wget -q https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb && \
+#   dpkg -i cuda-keyring_1.1-1_all.deb && \
+#   rm cuda-keyring_1.1-1_all.deb && \
+#   apt-get update && \
+#   apt-get install -y software-properties-common && \
+#   add-apt-repository "deb http://archive.ubuntu.com/ubuntu noble main restricted universe multiverse" && \
+#   add-apt-repository "deb http://archive.ubuntu.com/ubuntu noble-updates main restricted universe multiverse" && \
+#   add-apt-repository "deb http://archive.ubuntu.com/ubuntu noble contrib non-free-firmware" && \
+#   apt-get update && \
+#   apt-get -y install cuda-toolkit && \
+#   rm -rf /var/lib/apt/lists/*
+
+# File conflict problem with libnvidia-ml.so.1 and libcuda.so.1
+# https://github.com/NVIDIA/nvidia-docker/issues/1551
+RUN rm -rf /usr/lib/x86_64-linux-gnu/libnv*
+RUN rm -rf /usr/lib/x86_64-linux-gnu/libcuda*
+
+# TODO(tfoote) Add documentation of why these are required
+ENV PATH /usr/local/cuda/bin${PATH:+:${PATH}}
+ENV LD_LIBRARY_PATH /usr/local/cuda/lib64/stubs:/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}