diff --git a/Dockerfile b/Dockerfile
index 4ab3802..7bb5db2 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,4 +6,4 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt update
 RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
-RUN apt install -q -y libeigen3-dev libboost-all-dev libomp-dev
\ No newline at end of file
+RUN apt install -q -y libeigen3-dev libomp-dev
\ No newline at end of file
diff --git a/Dockerfile.ROS2 b/Dockerfile.ROS2
index 618ede6..6749653 100644
--- a/Dockerfile.ROS2
+++ b/Dockerfile.ROS2
@@ -7,4 +7,4 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN apt update
 RUN apt install -q -y curl gnupg2 lsb-release build-essential cmake
 RUN apt install -q -y python3-colcon-core python3-colcon-common-extensions
-RUN apt install -q -y libeigen3-dev libboost-all-dev libomp-dev
\ No newline at end of file
+RUN apt install -q -y libeigen3-dev libomp-dev
\ No newline at end of file
diff --git a/README.md b/README.md
index 6221aaa..db22587 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,6 @@ STEAM (Simultaneous Trajectory Estimation and Mapping) Engine is an optimization
 
 - Compiler with C++17 support and OpenMP
 - CMake (>=3.16)
-- Boost (>=1.71.0)
 - Eigen (>=3.3.7)
 - [lgmath (>=1.1.0)](https://github.com/utiasASRL/lgmath.git)
 - (Optional) ROS2 Foxy or later (colcon+ament_cmake)
diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt
index fb4c42b..6e2e30f 100644
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -6,8 +6,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 add_compile_options(-march=native -O3 -Wall -pedantic -Wno-unused-function)
 
-# Boost and OpenMP
-find_package(Boost 1.71.0 REQUIRED system)
+# OpenMP
 find_package(OpenMP REQUIRED)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")