diff --git a/.github/workflows/ci-bullseye.yaml b/.github/workflows/ci-bullseye.yaml
new file mode 100644
index 0000000..2144453
--- /dev/null
+++ b/.github/workflows/ci-bullseye.yaml
@@ -0,0 +1,15 @@
+name: Debian Bullseye CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.bullseye
diff --git a/Dockerfile.bullseye b/Dockerfile.bullseye
new file mode 100644
index 0000000..4e9fd92
--- /dev/null
+++ b/Dockerfile.bullseye
@@ -0,0 +1,30 @@
+# Copyright 2022 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 debian:bullseye
+
+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.
+RUN apt-get update && apt-get install -y sudo && 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 . cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
diff --git a/README.rst b/README.rst
index d66c52c..2bdf8aa 100644
--- a/README.rst
+++ b/README.rst
@@ -16,7 +16,7 @@
 Cartographer
 ============
 
-|build-jammy| |build-focal| |build-bionic| |docs| |license|
+|build-jammy| |build-focal| |build-bionic| |build-bullseye| |build-buster| |docs| |license|
 
 Purpose
 =======
@@ -95,6 +95,14 @@ Slides of these Cartographer Open House meetings are listed below.
     :alt: Ubuntu 18.04 Build Status
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml
+.. |build-bullseye| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml/badge.svg
+    :alt: Debian Bullseye Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml
+.. |build-buster| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml/badge.svg
+    :alt: Debian Buster Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 6273f04..6614f6f 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -94,7 +94,7 @@ on systems that meet the following requirements:
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
 * Ubuntu 18.04 (Bionic), 20.04 (Focal), 22.04 (Jammy)
-* gcc version 7.5.0, 9.3.0, 11.2.0
+* gcc version 7.5.0, 8.3.0, 9.3.0, 10.2.1, 11.2.0
 
 Known Issues
 ------------
diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh
index 8c802fc..18752ec 100755
--- a/scripts/install_debs_cmake.sh
+++ b/scripts/install_debs_cmake.sh
@@ -42,7 +42,7 @@ sudo apt-get install -y \
 # Install Protocol Buffers and Abseil if available.
 # No need to build it ourselves.
 case "$(lsb_release -sc)" in
-    jammy)
+    jammy|bullseye)
         sudo apt-get install -y libgmock-dev protobuf-compiler libabsl-dev ;;
     focal|buster)
         sudo apt-get install -y libgmock-dev protobuf-compiler ;;