diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index e838db9..8ae60e8 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -152,20 +152,6 @@ bionic-release-compile:
     - deb_bionic/*.deb
     expire_in: 1 week
 
-xenial-release-compile:
-  <<: *prepare_docker_definition
-  <<: *compile_test_package_definition
-  image: vladyslavusenko/b_image_xenial:latest
-  only:
-    - master
-  variables:
-    CXX_MARCH: 'sandybridge'
-    DEB_DIR: deb_xenial
-  artifacts:
-    paths:
-    - deb_xenial/*.deb
-    expire_in: 1 week
-
 focal-release-compile:
   <<: *prepare_docker_definition
   <<: *compile_test_package_definition
@@ -250,15 +236,6 @@ bionic-test:
     DEB_DIR: deb_bionic
     GIT_STRATEGY: none
 
-xenial-test:
-  <<: *test_deb_definition
-  image: vladyslavusenko/b_image_xenial:latest
-  only:
-    - master
-  variables:
-    DEB_DIR: deb_xenial
-    GIT_STRATEGY: none
-
 focal-test:
   <<: *test_deb_definition
   image: vladyslavusenko/b_image_focal:latest
@@ -354,7 +331,6 @@ deploy:
     - echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
     - chmod 644 ~/.ssh/known_hosts
   script:
-    - scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/    
     - scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/
     - scp $SCP_FLAGS deb_focal/*.deb $REPOSITORY_URL/focal/
     
@@ -384,13 +360,6 @@ docker-build-bionic:
     GIT_SUBMODULE_STRATEGY: none
     B_IMAGE_NAME: b_image_bionic
 
-docker-build-xenial:
-  <<: *docker_build_definition
-  variables:
-    DOCKER_TLS_CERTDIR: '/certs'
-    GIT_SUBMODULE_STRATEGY: none
-    B_IMAGE_NAME: b_image_xenial
-
 docker-build-focal:
   <<: *docker_build_definition
   variables:
diff --git a/README.md b/README.md
index aef098f..e787bed 100644
--- a/README.md
+++ b/README.md
@@ -49,7 +49,6 @@ cd build
 cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
 make -j8
 ```
-NOTE: It is possible to compile the code on Ubuntu 16.04, but you need to install cmake-3.10 or higher and gcc-7. See corresponding [Dockerfile](docker/b_image_xenial/Dockerfile) as an example.
 
 ## Usage
 * [Camera, IMU and Mocap calibration. (TUM-VI, Euroc, UZH-FPV and Kalibr datasets)](doc/Calibration.md)
diff --git a/docker/b_image_xenial/Dockerfile b/docker/b_image_xenial/Dockerfile
deleted file mode 100644
index 5d77879..0000000
--- a/docker/b_image_xenial/Dockerfile
+++ /dev/null
@@ -1,23 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y cmake git libtbb-dev libeigen3-dev libglew-dev ccache libjpeg-dev libpng12-dev openssh-client liblz4-dev libbz2-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libopencv-dev libpython2.7-dev wget libgtest-dev lsb-release software-properties-common && apt-get clean all
-
-RUN add-apt-repository ppa:ubuntu-toolchain-r/test
-
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
-RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
-
-
-RUN apt update && apt-get install -y g++-7 librealsense2-dev librealsense2-gl-dev librealsense2-dkms librealsense2-utils && apt-get clean all
-
-
-RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 \
-                         --slave /usr/bin/g++ g++ /usr/bin/g++-7
-RUN gcc --version
-RUN g++ --version
-
-RUN wget https://cmake.org/files/v3.13/cmake-3.13.4-Linux-x86_64.sh
-RUN chmod +x cmake-3.13.4-Linux-x86_64.sh
-RUN ./cmake-3.13.4-Linux-x86_64.sh  --skip-license --prefix=/usr/local
-RUN update-alternatives --install /usr/bin/cmake cmake /usr/local/bin/cmake 1 --force
-RUN cmake --version
\ No newline at end of file