diff --git a/Dockerfile.bionic b/Dockerfile.bionic
index d79a257..f6e4434 100644
--- a/Dockerfile.bionic
+++ b/Dockerfile.bionic
@@ -31,11 +31,5 @@ COPY scripts/install_abseil.sh cartographer/scripts/
 RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
-COPY scripts/install_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
-COPY scripts/install_async_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
-COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
-RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
 COPY . cartographer
-RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
diff --git a/Dockerfile.bionic.grpc b/Dockerfile.bionic.grpc
new file mode 100644
index 0000000..d79a257
--- /dev/null
+++ b/Dockerfile.bionic.grpc
@@ -0,0 +1,41 @@
+# Copyright 2020 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ubuntu:bionic
+
+ARG cc
+ARG cxx
+
+# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
+ENV CC=$cc
+ENV CXX=$cxx
+
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input.
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs_cmake.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_proto3.sh cartographer/scripts/
+RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
+COPY scripts/install_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
+COPY scripts/install_async_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
+COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
+RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer
diff --git a/README.rst b/README.rst
index 2b89e40..d66c52c 100644
--- a/README.rst
+++ b/README.rst
@@ -16,7 +16,7 @@
 Cartographer
 ============
 
-|build-jammy| |build-focal| |docs| |license|
+|build-jammy| |build-focal| |build-bionic| |docs| |license|
 
 Purpose
 =======
@@ -91,6 +91,10 @@ Slides of these Cartographer Open House meetings are listed below.
     :alt: Ubuntu 20.04 Build Status
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml
+.. |build-bionic| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml/badge.svg
+    :alt: Ubuntu 18.04 Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%