diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc
index 28dbbaa..f804e13 100644
--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc
+++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc
@@ -53,12 +53,6 @@ void ThreadPoolForTesting::NotifyDependenciesCompleted(Task* task) {
   tasks_not_ready_.erase(it);
 }
 
-void ThreadPoolForTesting::Schedule(const std::function<void()>& work_item) {
-  auto task = common::make_unique<Task>();
-  task->SetWorkItem(work_item);
-  Schedule(std::move(task));
-}
-
 std::weak_ptr<Task> ThreadPoolForTesting::Schedule(std::unique_ptr<Task> task) {
   std::shared_ptr<Task> shared_task;
   {
diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.h b/cartographer/common/internal/testing/thread_pool_for_testing.h
index 972a1ff..53bccb3 100644
--- a/cartographer/common/internal/testing/thread_pool_for_testing.h
+++ b/cartographer/common/internal/testing/thread_pool_for_testing.h
@@ -34,18 +34,18 @@ class ThreadPoolForTesting : public ThreadPoolInterface {
   ThreadPoolForTesting();
   ~ThreadPoolForTesting();
 
-  void NotifyDependenciesCompleted(Task* task) EXCLUDES(mutex_) override;
-
-  void Schedule(const std::function<void()>& work_item) override;
-
   std::weak_ptr<Task> Schedule(std::unique_ptr<Task> task)
       EXCLUDES(mutex_) override;
 
   void WaitUntilIdle();
 
  private:
+  friend class Task;
+
   void DoWork();
 
+  void NotifyDependenciesCompleted(Task* task) EXCLUDES(mutex_) override;
+
   Mutex mutex_;
   bool running_ GUARDED_BY(mutex_) = true;
   bool idle_ GUARDED_BY(mutex_) = true;
diff --git a/cartographer/common/task_test.cc b/cartographer/common/task_test.cc
index e7a3212..249bc08 100644
--- a/cartographer/common/task_test.cc
+++ b/cartographer/common/task_test.cc
@@ -41,10 +41,6 @@ class FakeThreadPool : public ThreadPoolInterface {
     tasks_not_ready_.erase(it);
   }
 
-  void Schedule(const std::function<void()>& work_item) override {
-    LOG(FATAL) << "not implemented";
-  }
-
   std::weak_ptr<Task> Schedule(std::unique_ptr<Task> task) override {
     std::shared_ptr<Task> shared_task;
     auto it =
diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
index e21d784..bc3c743 100644
--- a/cartographer/common/thread_pool.cc
+++ b/cartographer/common/thread_pool.cc
@@ -63,12 +63,6 @@ void ThreadPool::NotifyDependenciesCompleted(Task* task) {
   tasks_not_ready_.erase(it);
 }
 
-void ThreadPool::Schedule(const std::function<void()>& work_item) {
-  auto task = make_unique<Task>();
-  task->SetWorkItem(work_item);
-  Schedule(std::move(task));
-}
-
 std::weak_ptr<Task> ThreadPool::Schedule(std::unique_ptr<Task> task) {
   std::shared_ptr<Task> shared_task;
   {
diff --git a/cartographer/common/thread_pool.h b/cartographer/common/thread_pool.h
index 6dc1114..b3bb595 100644
--- a/cartographer/common/thread_pool.h
+++ b/cartographer/common/thread_pool.h
@@ -36,8 +36,6 @@ class ThreadPoolInterface {
  public:
   ThreadPoolInterface() {}
   virtual ~ThreadPoolInterface() {}
-  // TODO(gaschler): Use Schedule(unique_ptr<Task>), then remove Schedule.
-  virtual void Schedule(const std::function<void()>& work_item) = 0;
   virtual std::weak_ptr<Task> Schedule(std::unique_ptr<Task> task) = 0;
 
  protected:
@@ -64,9 +62,6 @@ class ThreadPool : public ThreadPoolInterface {
   ThreadPool(const ThreadPool&) = delete;
   ThreadPool& operator=(const ThreadPool&) = delete;
 
-  // TODO(gaschler): Remove all uses.
-  void Schedule(const std::function<void()>& work_item) override;
-
   // When the returned weak pointer is expired, 'task' has certainly completed,
   // so dependants no longer need to add it as a dependency.
   std::weak_ptr<Task> Schedule(std::unique_ptr<Task> task)