diff --git a/Dockerfile.stretch b/Dockerfile.stretch
deleted file mode 100644
index b3f346e..0000000
--- a/Dockerfile.stretch
+++ /dev/null
@@ -1,36 +0,0 @@
-# Copyright 2016 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:stretch
-
-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 scripts/install_abseil.sh cartographer/scripts/
-RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
-COPY scripts/install_proto3.sh cartographer/scripts/
-RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
-COPY . cartographer
-RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 29d5279..6273f04 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 6.3.0, 7.5.0, 9.3.0, 11.2.0
+* gcc version 7.5.0, 9.3.0, 11.2.0
 
 Known Issues
 ------------
diff --git a/scripts/install_ceres.sh b/scripts/install_ceres.sh
deleted file mode 100755
index 56999d0..0000000
--- a/scripts/install_ceres.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/sh
-
-# Copyright 2016 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.
-
-set -o errexit
-set -o verbose
-
-VERSION="1.13.0"
-
-# Build and install Ceres.
-git clone https://ceres-solver.googlesource.com/ceres-solver
-cd ceres-solver
-git checkout tags/${VERSION}
-mkdir build
-cd build
-cmake .. -G Ninja -DCXX11=ON
-ninja
-CTEST_OUTPUT_ON_FAILURE=1 ninja test
-sudo ninja install
diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh
index 932210a..8c802fc 100755
--- a/scripts/install_debs_cmake.sh
+++ b/scripts/install_debs_cmake.sh
@@ -27,6 +27,7 @@ sudo apt-get install -y \
     google-mock \
     libboost-all-dev \
     libcairo2-dev \
+    libceres-dev \
     libcurl4-openssl-dev \
     libeigen3-dev \
     libgflags-dev \
@@ -35,17 +36,16 @@ sudo apt-get install -y \
     libsuitesparse-dev \
     lsb-release \
     ninja-build \
+    python3-sphinx \
     stow
 
-# Install Ceres Solver, Protocol Buffers, Abseil support if available.
+# Install Protocol Buffers and Abseil if available.
 # No need to build it ourselves.
 case "$(lsb_release -sc)" in
     jammy)
-        sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler libabsl-dev ;;
+        sudo apt-get install -y libgmock-dev protobuf-compiler libabsl-dev ;;
     focal|buster)
-        sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler ;;
+        sudo apt-get install -y libgmock-dev protobuf-compiler ;;
     bionic)
-        sudo apt-get install -y python-sphinx libceres-dev ;;
-    *)
-        sudo apt-get install -y python-sphinx ;;
+        ;;
 esac