diff --git a/docker/build.sh b/docker/build.sh
index aa2c8ae8bab..4d239417638 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -154,11 +154,22 @@ build_images() {
         --set "*.args.AUTOWARE_BASE_CUDA_IMAGE=$autoware_base_cuda_image" \
         --set "*.args.SETUP_ARGS=$setup_args" \
         --set "*.args.LIB_DIR=$lib_dir" \
+        --set "universe-sensing-perception-devel.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel" \
+        --set "universe-sensing-perception.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception" \
+        --set "universe-localization-mapping-devel.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping-devel" \
+        --set "universe-localization-mapping.tags=ghcr.io/autowarefoundation/autoware:universe-localization-mapping" \
+        --set "universe-planning-control-devel.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control-devel" \
+        --set "universe-planning-control.tags=ghcr.io/autowarefoundation/autoware:universe-planning-control" \
+        --set "universe-vehicle-system-devel.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system-devel" \
+        --set "universe-vehicle-system.tags=ghcr.io/autowarefoundation/autoware:universe-vehicle-system" \
+        --set "universe-visualization-devel.tags=ghcr.io/autowarefoundation/autoware:universe-visualization-devel" \
+        --set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
         --set "universe-devel.tags=ghcr.io/autowarefoundation/autoware:universe-devel" \
-        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe.tags=ghcr.io/autowarefoundation/autoware:universe" \
+        --set "universe-sensing-perception-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-devel-cuda" \
+        --set "universe-sensing-perception-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda" \
+        --set "universe-devel-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-devel-cuda" \
         --set "universe-cuda.tags=ghcr.io/autowarefoundation/autoware:universe-cuda" \
-        --set "universe-visualization.tags=ghcr.io/autowarefoundation/autoware:universe-visualization" \
         "$target$image_name_suffix"
     set +x
 }
diff --git a/docker/docker-bake.hcl b/docker/docker-bake.hcl
index 82c6887b4c1..600b47108be 100644
--- a/docker/docker-bake.hcl
+++ b/docker/docker-bake.hcl
@@ -85,6 +85,12 @@ target "universe-vehicle-system" {
   target = "universe-vehicle-system"
 }
 
+target "universe-visualization-devel" {
+  inherits = ["docker-metadata-action-universe-visualization-devel"]
+  dockerfile = "docker/Dockerfile"
+  target = "universe-visualization-devel"
+}
+
 target "universe-visualization" {
   inherits = ["docker-metadata-action-universe-visualization"]
   dockerfile = "docker/Dockerfile"