diff --git a/containers/Containerfile b/containers/Containerfile
new file mode 100644
index 0000000000..6dd5226cdc
--- /dev/null
+++ b/containers/Containerfile
@@ -0,0 +1,45 @@
+# base image off ubuntu image
+ARG UBUNTU_TAG=22.04
+FROM docker.io/ubuntu:${UBUNTU_TAG}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+# dependencies
+    libboost-all-dev \
+# optional dependencies
+    libtbb-dev \
+    python3-dev \
+    python3-pip \
+    python3-pyparsing \
+    python3-numpy \
+# build dependencies
+    build-essential \
+    cmake \
+# download dependencies
+    git \
+    ca-certificates && \
+    rm -rf /var/lib/apt/lists/*
+
+# build flags
+ARG GTSAM_GIT_TAG=4.2.0
+ARG GTSAM_WITH_TBB=ON
+ARG GTSAM_BUILD_PYTHON=ON
+ARG CORES=4
+
+# build and install gtsam
+RUN mkdir -p /src/github/borglab && cd /src/github/borglab && \
+    git clone https://github.com/borglab/gtsam --depth 1 --branch ${GTSAM_GIT_TAG} && \
+    cd gtsam && \
+    mkdir build && \
+    cd build && \
+    cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB} \
+    -DGTSAM_BUILD_PYTHON=${GTSAM_BUILD_PYTHON} \
+    .. && \
+    make -j${CORES} install && \
+    if [ "${GTSAM_BUILD_PYTHON}" = "ON" ] ; then \
+    make python-install; \
+    fi
+
+CMD ["/bin/bash"]
diff --git a/containers/README.md b/containers/README.md
new file mode 100644
index 0000000000..2d4a7c27a2
--- /dev/null
+++ b/containers/README.md
@@ -0,0 +1,127 @@
+# GTSAM Containers
+
+- container files to build images
+- script to push images to a registry
+- instructions to pull images and run containers
+
+## Dependencies
+
+- a container engine such as [`Docker Engine`](https://docs.docker.com/engine/install/)
+
+## Pull from Docker Hub
+
+Various GTSAM image configurations are available at [`docker.io/borglab/gtsam`](https://hub.docker.com/r/borglab/gtsam). Determine which [tag](https://hub.docker.com/r/borglab/gtsam/tags) you want and pull the image.
+
+Example for pulling an image with GTSAM compiled with TBB and Python support on top of a base Ubuntu 22.04 image.
+
+```bash
+docker pull docker.io/borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
+```
+
+[`docker.io/borglab/gtsam-vnc`](https://hub.docker.com/r/borglab/gtsam-vnc) is also provided as an image with GTSAM that will run a VNC server to connect to.
+
+## Using the images
+
+### Just GTSAM
+
+To start the image, execute
+
+```bash
+docker run -it borglab/gtsam:4.2.0-tbb-ON-python-OFF_22.04
+```
+
+after you will find yourself in a bash shell.
+
+### GTSAM with Python wrapper
+
+To use GTSAM via the python wrapper, similarly execute
+
+```bash
+docker run -it borglab/gtsam:4.2.0-tbb-ON-python-ON_22.04
+```
+
+and then launch `python3`:
+
+```bash
+python3
+>>> import gtsam
+>>> gtsam.Pose2(1,2,3)
+(1, 2, 3)
+```
+
+### GTSAM with Python wrapper and VNC
+
+First, start the image, which will run a VNC server on port 5900:
+
+```bash
+docker run -p 5900:5900 borglab/gtsam-vnc:4.2.0-tbb-ON-python-ON_22.04
+```
+
+Then open a remote VNC X client, for example:
+
+#### Linux
+
+```bash
+sudo apt-get install tigervnc-viewer
+xtigervncviewer :5900
+```
+
+#### Mac
+
+The Finder's "Connect to Server..." with `vnc://127.0.0.1` does not work, for some reason. Using the free [VNC Viewer](https://www.realvnc.com/en/connect/download/viewer/), enter `0.0.0.0:5900` as the server.
+
+## Build images locally
+
+### Build Dependencies
+
+- a [Compose Spec](https://compose-spec.io/) implementation such as [docker-compose](https://docs.docker.com/compose/install/)
+
+### `gtsam` image
+
+#### `.env` file
+
+- `GTSAM_GIT_TAG`: [git tag from the gtsam repo](https://github.com/borglab/gtsam/tags)
+- `UBUNTU_TAG`: image tag provided by [ubuntu](https://hub.docker.com/_/ubuntu/tags) to base the image off of
+- `GTSAM_WITH_TBB`: to build GTSAM with TBB, set to `ON`
+- `GTSAM_BUILD_PYTHON`: to build python bindings, set to `ON`
+- `CORES`: number of cores to compile with
+
+#### Build `gtsam` image
+
+```bash
+docker compose build
+```
+
+### `gtsam-vnc` image
+
+#### `gtsam-vnc/.env` file
+
+- `GTSAM_TAG`: image tag provided by [gtsam](https://hub.docker.com/r/borglab/gtsam/tags)
+
+#### Build `gtsam-vnc` image
+
+```bash
+docker compose --file gtsam-vnc/compose.yaml build
+```
+
+## Push to Docker Hub
+
+Make sure you are logged in via: `docker login docker.io`.
+
+### `gtsam` images
+
+Specify the variables described in the `.env` file in the `hub_push.sh` script.
+To push images to Docker Hub, run as follows:
+
+```bash
+./hub_push.sh
+```
+
+### `gtsam-vnc` images
+
+Specify the variables described in the `gtsam-vnc/.env` file in the `gtsam-vnc/hub_push.sh` script.
+To push images to Docker Hub, run as follows:
+
+```bash
+./gtsam-vnc/hub_push.sh
+```
diff --git a/containers/compose.yaml b/containers/compose.yaml
new file mode 100644
index 0000000000..01f9a6c07b
--- /dev/null
+++ b/containers/compose.yaml
@@ -0,0 +1,14 @@
+services:
+  gtsam:
+    build:
+      args:
+        UBUNTU_TAG: ${UBUNTU_TAG}
+        GTSAM_GIT_TAG: ${GTSAM_GIT_TAG}
+        GTSAM_WITH_TBB: ${GTSAM_WITH_TBB}
+        GTSAM_BUILD_PYTHON: ${GTSAM_BUILD_PYTHON}
+        CORES: ${CORES}
+      context: .
+      dockerfile: Containerfile
+    env_file:
+      - .env
+    image: gtsam:${GTSAM_GIT_TAG}-tbb-${GTSAM_WITH_TBB}-python-${GTSAM_BUILD_PYTHON}_${UBUNTU_TAG}
diff --git a/containers/gtsam-vnc/Containerfile b/containers/gtsam-vnc/Containerfile
new file mode 100644
index 0000000000..8814d0e48c
--- /dev/null
+++ b/containers/gtsam-vnc/Containerfile
@@ -0,0 +1,20 @@
+# This image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
+
+# base image off gtsam image
+ARG GTSAM_TAG=4.2.0-tbb-ON-python-ON_22.04
+FROM docker.io/borglab/gtsam:${GTSAM_TAG}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+# Things needed to get a python GUI
+    python3-tk \
+    python3-matplotlib \
+# Install a VNC X-server, Frame buffer, and windows manager
+    x11vnc \
+    xvfb \
+    fluxbox \
+# Finally, install wmctrl needed for bootstrap script
+    wmctrl \
+    rm -rf /var/lib/apt/lists/*
+
+COPY bootstrap.sh /
+CMD ["/bootstrap.sh"]
diff --git a/docker/ubuntu-gtsam-python-vnc/bootstrap.sh b/containers/gtsam-vnc/bootstrap.sh
old mode 100755
new mode 100644
similarity index 100%
rename from docker/ubuntu-gtsam-python-vnc/bootstrap.sh
rename to containers/gtsam-vnc/bootstrap.sh
diff --git a/containers/gtsam-vnc/compose.yaml b/containers/gtsam-vnc/compose.yaml
new file mode 100644
index 0000000000..c27bdef853
--- /dev/null
+++ b/containers/gtsam-vnc/compose.yaml
@@ -0,0 +1,10 @@
+services:
+  gtsam_vnc:
+    build:
+      args:
+        GTSAM_TAG: ${GTSAM_TAG}
+      context: .
+      dockerfile: Containerfile
+    env_file:
+      - .env
+    image: gtsam-vnc:${GTSAM_TAG}
diff --git a/containers/gtsam-vnc/hub_push.sh b/containers/gtsam-vnc/hub_push.sh
new file mode 100644
index 0000000000..21326d7417
--- /dev/null
+++ b/containers/gtsam-vnc/hub_push.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+# A script to push images to Docker Hub
+
+declare -a gtsam_tags=("4.2.0-tbb-ON-python-ON_22.04")
+
+for gtsam_tag in "${gtsam_tags[@]}"; do
+
+    touch gtsam-vnc/.env
+    echo "GTSAM_TAG=${gtsam_tag}" > gtsam-vnc/.env
+
+    docker compose --file gtsam-vnc/compose.yaml build
+
+    docker tag gtsam-vnc:"${gtsam_tag}" \
+        docker.io/borglab/gtsam-vnc:"${gtsam_tag}"
+
+    docker push docker.io/borglab/gtsam-vnc:"${gtsam_tag}"
+
+done
diff --git a/containers/hub_push.sh b/containers/hub_push.sh
new file mode 100644
index 0000000000..f31d4a3f40
--- /dev/null
+++ b/containers/hub_push.sh
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+
+# A script to push images to Docker Hub
+
+declare -a ubuntu_tags=("22.04")
+declare -a gtsam_git_tags=("4.2.0")
+declare -a gtsam_with_tbb_options=("OFF" "ON")
+declare -a gtsam_build_python_options=("OFF" "ON")
+
+for ubuntu_tag in "${ubuntu_tags[@]}"; do
+for gtsam_git_tag in "${gtsam_git_tags[@]}"; do
+for gtsam_with_tbb in "${gtsam_with_tbb_options[@]}"; do
+for gtsam_build_python in "${gtsam_build_python_options[@]}"; do
+
+    touch .env
+    echo "UBUNTU_TAG=${ubuntu_tag}" > .env
+    echo "GTSAM_GIT_TAG=${gtsam_git_tag}" >> .env
+    echo "GTSAM_WITH_TBB=${gtsam_with_tbb}" >> .env
+    echo "GTSAM_BUILD_PYTHON=${gtsam_build_python}" >> .env
+    echo "CORES=4" >> .env
+
+    docker compose build
+
+    docker tag gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}" \
+        docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
+
+    docker push docker.io/borglab/gtsam:"${gtsam_git_tag}-tbb-${gtsam_with_tbb}-python-${gtsam_build_python}_${ubuntu_tag}"
+
+done
+done
+done
+done
diff --git a/docker/README.md b/docker/README.md
deleted file mode 100644
index 37c47a27ff..0000000000
--- a/docker/README.md
+++ /dev/null
@@ -1,63 +0,0 @@
-# Instructions
-
-# Images on Docker Hub
-
-There are 4 images available on https://hub.docker.com/orgs/borglab/repositories:
-
-- `borglab/ubuntu-boost-tbb`: 18.06 Linux (nicknamed `bionic`) base image, with Boost and TBB installed.
-- `borglab/ubuntu-gtsam`: GTSAM Release version installed in `/usr/local`.
-- `borglab/ubuntu-gtsam-python`: installed GTSAM with python wrapper.
-- `borglab/ubuntu-gtsam-python-vnc`: image with GTSAM+python wrapper that will run a VNC server to connect to.
-
-# Using the images
-
-## Just GTSAM
-
-To start the Docker image, execute
-```bash
-docker run -it borglab/ubuntu-gtsam:bionic 
-```
-after you will find yourself in a bash shell, in the directory `/usr/src/gtsam/build`.
-## GTSAM with Python wrapper
-
-To use GTSAM via the python wrapper, similarly execute
-```bash
-docker run -it borglab/ubuntu-gtsam-python:bionic 
-```
-and then launch `python3`:
-```bash
-python3
->>> import gtsam
->>> gtsam.Pose2(1,2,3)
-(1, 2, 3)
-```
-
-## GTSAM with Python wrapper and VNC
-
-First, start the docker image, which will run a VNC server on port 5900:
-```bash
-docker run -p 5900:5900 borglab/ubuntu-gtsam-python-vnc:bionic
-```
-
-Then open a remote VNC X client, for example:
-
-### Linux
-```bash
-sudo apt-get install tigervnc-viewer
-xtigervncviewer :5900
-```
-### Mac
-The Finder's "Connect to Server..." with `vnc://127.0.0.1` does not work, for some reason. Using the free [VNC Viewer](https://www.realvnc.com/en/connect/download/viewer/), enter `0.0.0.0:5900` as the server.
-
-# Re-building the images locally
-
-To build all docker images, in order:
-
-```bash
-(cd ubuntu-boost-tbb && ./build.sh)
-(cd ubuntu-gtsam && ./build.sh)
-(cd ubuntu-gtsam-python && ./build.sh)
-(cd ubuntu-gtsam-python-vnc && ./build.sh)
-```
-
-Note: building GTSAM can take a lot of memory because of the heavy templating. It is advisable to give Docker enough resources, e.g., 8GB, to avoid OOM errors while compiling.
\ No newline at end of file
diff --git a/docker/ubuntu-boost-tbb/Dockerfile b/docker/ubuntu-boost-tbb/Dockerfile
deleted file mode 100644
index 9f6eea3b80..0000000000
--- a/docker/ubuntu-boost-tbb/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-# Basic Ubuntu 18.04 image with Boost and TBB installed. To be used for building further downstream packages.
-
-# Get the base Ubuntu image from Docker Hub
-FROM ubuntu:bionic
-
-# Disable GUI prompts
-ENV DEBIAN_FRONTEND noninteractive
-
-# Update apps on the base image
-RUN apt-get -y update && apt-get -y install
-
-# Install C++
-RUN apt-get -y install build-essential  apt-utils
-
-# Install boost and cmake
-RUN apt-get -y install libboost-all-dev cmake
-
-# Install TBB
-RUN apt-get -y install libtbb-dev
diff --git a/docker/ubuntu-boost-tbb/build.sh b/docker/ubuntu-boost-tbb/build.sh
deleted file mode 100755
index 35b349c6a5..0000000000
--- a/docker/ubuntu-boost-tbb/build.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# Build command for Docker image
-# TODO(dellaert): use docker compose and/or cmake
-docker build --no-cache -t borglab/ubuntu-boost-tbb:bionic .
diff --git a/docker/ubuntu-gtsam-python-vnc/Dockerfile b/docker/ubuntu-gtsam-python-vnc/Dockerfile
deleted file mode 100644
index 8039698c35..0000000000
--- a/docker/ubuntu-gtsam-python-vnc/Dockerfile
+++ /dev/null
@@ -1,20 +0,0 @@
-# This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
-
-# Get the base Ubuntu/GTSAM image from Docker Hub
-FROM borglab/ubuntu-gtsam-python:bionic
-
-# Things needed to get a python GUI
-ENV DEBIAN_FRONTEND noninteractive
-RUN apt install -y python-tk
-RUN python3 -m pip install matplotlib
-
-# Install a VNC X-server, Frame buffer, and windows manager
-RUN apt install -y x11vnc xvfb fluxbox
-
-# Finally, install wmctrl needed for bootstrap script
-RUN apt install -y wmctrl
-
-# Copy bootstrap script and make sure it runs
-COPY bootstrap.sh /
-
-CMD '/bootstrap.sh'
diff --git a/docker/ubuntu-gtsam-python-vnc/build.sh b/docker/ubuntu-gtsam-python-vnc/build.sh
deleted file mode 100755
index a0bbb6a961..0000000000
--- a/docker/ubuntu-gtsam-python-vnc/build.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-# Build command for Docker image
-# TODO(dellaert): use docker compose and/or cmake
-# Needs to be run in docker/ubuntu-gtsam-python-vnc directory
-docker build -t borglab/ubuntu-gtsam-python-vnc:bionic .
diff --git a/docker/ubuntu-gtsam-python-vnc/vnc.sh b/docker/ubuntu-gtsam-python-vnc/vnc.sh
deleted file mode 100755
index b749093afe..0000000000
--- a/docker/ubuntu-gtsam-python-vnc/vnc.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-# After running this script, connect VNC client to 0.0.0.0:5900
-docker run -it \
-    --workdir="/usr/src/gtsam" \
-    -p 5900:5900 \
-    borglab/ubuntu-gtsam-python-vnc:bionic
\ No newline at end of file
diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile
deleted file mode 100644
index 4a7c4b37f4..0000000000
--- a/docker/ubuntu-gtsam-python/Dockerfile
+++ /dev/null
@@ -1,30 +0,0 @@
-#  GTSAM Ubuntu image with Python wrapper support.
-
-# Get the base Ubuntu/GTSAM image from Docker Hub
-FROM borglab/ubuntu-gtsam:bionic
-
-# Install pip
-RUN apt-get install -y python3-pip python3-dev
-
-# Run cmake again, now with python toolbox on
-WORKDIR /usr/src/gtsam/build
-RUN cmake \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_WITH_EIGEN_MKL=OFF \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
-    -DGTSAM_BUILD_TESTS=OFF \
-    -DGTSAM_BUILD_PYTHON=ON \
-    -DGTSAM_PYTHON_VERSION=3\
-    ..
-
-# Build again, as ubuntu-gtsam image cleaned
-RUN make -j4 install
-RUN make python-install
-RUN make clean
-
-# Needed to run python wrapper:
-RUN echo 'export PYTHONPATH=/usr/local/python/:$PYTHONPATH' >> /root/.bashrc
-
-# Run bash
-CMD ["bash"]
diff --git a/docker/ubuntu-gtsam-python/build.sh b/docker/ubuntu-gtsam-python/build.sh
deleted file mode 100755
index 68827074d0..0000000000
--- a/docker/ubuntu-gtsam-python/build.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# Build command for Docker image
-# TODO(dellaert): use docker compose and/or cmake
-docker build --no-cache -t borglab/ubuntu-gtsam-python:bionic .
diff --git a/docker/ubuntu-gtsam/Dockerfile b/docker/ubuntu-gtsam/Dockerfile
deleted file mode 100644
index ce6927fe8c..0000000000
--- a/docker/ubuntu-gtsam/Dockerfile
+++ /dev/null
@@ -1,35 +0,0 @@
-# Ubuntu image with GTSAM installed. Configured with  Boost and TBB support.
-
-# Get the base Ubuntu image from Docker Hub
-FROM borglab/ubuntu-boost-tbb:bionic
-
-# Install git
-RUN apt-get update && \
-    apt-get install -y git
-
-# Install compiler
-RUN apt-get install -y build-essential
-
-# Clone GTSAM (develop branch)
-WORKDIR /usr/src/
-RUN git clone --single-branch --branch develop https://github.com/borglab/gtsam.git
-
-# Change to build directory. Will be created automatically.
-WORKDIR /usr/src/gtsam/build
-# Run cmake
-RUN cmake \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_WITH_EIGEN_MKL=OFF \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_TIMING_ALWAYS=OFF \
-    -DGTSAM_BUILD_TESTS=OFF \
-    ..
-
-# Build
-RUN make -j4 install && make clean
-
-# Needed to link with GTSAM
-RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc
-
-# Run bash
-CMD ["bash"]
diff --git a/docker/ubuntu-gtsam/build.sh b/docker/ubuntu-gtsam/build.sh
deleted file mode 100755
index 790ee15751..0000000000
--- a/docker/ubuntu-gtsam/build.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# Build command for Docker image
-# TODO(dellaert): use docker compose and/or cmake
-docker build --no-cache -t borglab/ubuntu-gtsam:bionic .