diff --git a/docs/source/gradient_tutorial.rst b/docs/source/gradient_tutorial.rst
index 0e4f8e8..bd3ebf5 100644
--- a/docs/source/gradient_tutorial.rst
+++ b/docs/source/gradient_tutorial.rst
@@ -110,7 +110,7 @@
     33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 6.59e-04
     34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 6.67e-04
 
-  Solver Summary (v 2.0.0-eigen-(3.3.9)-lapack-suitesparse-(5.8.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp-no_custom_blas)
+  Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp)
 
   Parameters                                  2
   Line search direction              LBFGS (20)
@@ -127,9 +127,9 @@
   Time (in seconds):
 
     Cost evaluation                    0.000000 (0)
-    Gradient & cost evaluation         0.000008 (44)
-    Polynomial minimization            0.000067
-  Total                                0.000721
+    Gradient & cost evaluation         0.000005 (44)
+    Polynomial minimization            0.000041
+  Total                                0.000368
 
   Termination:                      CONVERGENCE (Parameter tolerance reached. Relative step_norm: 1.890726e-11 <= 1.000000e-08.)
 
@@ -137,6 +137,7 @@
   Final   x: 1 y: 1
 
 
+
 If you are unable to use automatic differentiation for some reason
 (say beacause you need to call an external library), then you can
 use numeric differentiation. In that case the functor is defined as
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index 86c6040..182bfd2 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -9,7 +9,7 @@
 .. _section-source:
 
 You can start with the `latest stable release
-<http://ceres-solver.org/ceres-solver-2.0.0.tar.gz>`_ . Or if you want
+<http://ceres-solver.org/ceres-solver-2.1.0.tar.gz>`_ . Or if you want
 the latest version, you can clone the git repository
 
 .. code-block:: bash
@@ -21,7 +21,7 @@
 Dependencies
 ============
 
-  .. NOTE ::
+ .. NOTE ::
 
     Starting with v2.0 Ceres requires a **fully C++14-compliant**
     compiler.  In versions <= 1.14, C++11 was an optional requirement.
@@ -30,6 +30,8 @@
 optional. For details on customizing the build process, see
 :ref:`section-customizing` .
 
+- `CMake <http://www.cmake.org>`_ 3.10 or later **required**.
+
 - `Eigen <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_
   3.3 or later **required**.
 
@@ -39,9 +41,7 @@
     library. Please see the documentation for ``EIGENSPARSE`` for
     more details.
 
-- `CMake <http://www.cmake.org>`_ 3.5 or later **required**.
-
-- `glog <https://github.com/google/glog>`_ 0.3.1 or
+- `glog <https://github.com/google/glog>`_ 0.3.5 or
   later. **Recommended**
 
   ``glog`` is used extensively throughout Ceres for logging detailed
@@ -65,22 +65,13 @@
   recommend against it. ``miniglog`` has worse performance than
   ``glog`` and is much harder to control and use.
 
-  .. NOTE ::
-
-     If you are compiling ``glog`` from source, please note that
-     currently, the unit tests for ``glog`` (which are enabled by
-     default) do not compile against a default build of ``gflags`` 2.1
-     as the gflags namespace changed from ``google::`` to
-     ``gflags::``.  A patch to fix this is available from `here
-     <https://code.google.com/p/google-glog/issues/detail?id=194>`_.
-
 - `gflags <https://github.com/gflags/gflags>`_. Needed to build
   examples and tests and usually a dependency for glog.
 
-- `SuiteSparse
-  <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_ 4.0 or later. Needed
-  for solving large sparse linear systems. **Optional; strongly recomended for
-  large scale bundle adjustment**
+- `SuiteSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_
+  5.0 or later. Needed for solving large sparse linear
+  systems. **Optional; strongly recomended for large scale bundle
+  adjustment**
 
   .. NOTE ::
 
@@ -115,14 +106,13 @@
   ``SuiteSparse``, and optionally used by Ceres directly for some
   operations.
 
-  TODO::
+  For best performance on ``x86`` based Linux systems we recommend
+  using `Intel MKL
+  <https://www.intel.com/content/www/us/en/develop/documentation/get-started-with-mkl-for-dpcpp/top.html>`_.
 
-    1. Add a more detailed note about Intel MKL.
-    2. Add detailed instructions about CUDA
-
-  On ``UNIX`` OSes other than macOS we recommend `ATLAS
+  Two other good options are `ATLAS
   <http://math-atlas.sourceforge.net/>`_, which includes ``BLAS`` and
-  ``LAPACK`` routines. It is also possible to use `OpenBLAS
+  ``LAPACK`` routines and `OpenBLAS
   <https://github.com/xianyi/OpenBLAS>`_ . However, one needs to be
   careful to `turn off the threading
   <https://github.com/xianyi/OpenBLAS/wiki/faq#wiki-multi-threaded>`_
@@ -138,6 +128,14 @@
 
   **Optional but required for** ``SuiteSparse``.
 
+- `CUDA <https://developer.nvidia.com/cuda-toolkit>`_ If you have an
+  NVIDIA GPU then Ceres Solver can use it accelerate the solution of
+  the Gauss-Newton linear systems using ``CUDA``. Currently this
+  support is limited to using the dense linear solvers that ship with
+  ``CUDA``. As a result GPU acceleration can be used to speed up
+  ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and
+  ``DENSE_SCHUR``. **Optional**.
+
 .. _section-linux:
 
 Linux
@@ -146,11 +144,12 @@
 We will use `Ubuntu <http://www.ubuntu.com>`_ as our example linux
 distribution.
 
-  .. NOTE ::
+.. NOTE::
 
-    These instructions are for Ubuntu 18.04 and newer. On Ubuntu 16.04
-    you need to manually get a more recent version of Eigen, such as
-    3.3.7.
+   Ceres Solver always supports the previous and current Ubuntu LTS
+   releases, currently 18.04 and 20.04, using the default Ubuntu
+   repositories and compiler toolchain. Support for earlier versions
+   is not guaranteed or maintained.
 
 Start by installing all the dependencies.
 
@@ -160,7 +159,7 @@
      sudo apt-get install cmake
      # google-glog + gflags
      sudo apt-get install libgoogle-glog-dev libgflags-dev
-     # BLAS & LAPACK
+     # Use ATLAS for BLAS & LAPACK
      sudo apt-get install libatlas-base-dev
      # Eigen3
      sudo apt-get install libeigen3-dev
@@ -171,10 +170,10 @@
 
 .. code-block:: bash
 
- tar zxf ceres-solver-2.0.0.tar.gz
+ tar zxf ceres-solver-2.1.0.tar.gz
  mkdir ceres-bin
  cd ceres-bin
- cmake ../ceres-solver-2.0.0
+ cmake ../ceres-solver-2.1.0
  make -j3
  make test
  # Optionally install Ceres, it can also be exported using CMake which
@@ -188,7 +187,7 @@
 
 .. code-block:: bash
 
- bin/simple_bundle_adjuster ../ceres-solver-2.0.0/data/problem-16-22106-pre.txt
+ bin/simple_bundle_adjuster ../ceres-solver-2.1.0/data/problem-16-22106-pre.txt
 
 This runs Ceres for a maximum of 10 iterations using the
 ``DENSE_SCHUR`` linear solver. The output should look something like
@@ -205,55 +204,55 @@
        5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05       1    1.45e-01    1.08e+00
        6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06       1    1.50e-01    1.23e+00
 
-    Ceres Solver v2.0.0 Solve Report
-    ----------------------------------
-                                         Original                  Reduced
-    Parameter blocks                        22122                    22122
-    Parameters                              66462                    66462
-    Residual blocks                         83718                    83718
-    Residual                               167436                   167436
+  Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-cxsparse-(3.2.0)-acceleratesparse-eigensparse-no_openmp)
 
-    Minimizer                        TRUST_REGION
+				       Original                  Reduced
+  Parameter blocks                        22122                    22122
+  Parameters                              66462                    66462
+  Residual blocks                         83718                    83718
+  Residuals                              167436                   167436
 
-    Dense linear algebra library            EIGEN
-    Trust region strategy     LEVENBERG_MARQUARDT
+  Minimizer                        TRUST_REGION
 
-                                            Given                     Used
-    Linear solver                     DENSE_SCHUR              DENSE_SCHUR
-    Threads                                     1                        1
-    Linear solver threads                       1                        1
-    Linear solver ordering              AUTOMATIC                22106, 16
+  Dense linear algebra library            EIGEN
+  Trust region strategy     LEVENBERG_MARQUARDT
 
-    Cost:
-    Initial                          4.185660e+06
-    Final                            1.803390e+04
-    Change                           4.167626e+06
+					  Given                     Used
+  Linear solver                     DENSE_SCHUR              DENSE_SCHUR
+  Threads                                     1                        1
+  Linear solver ordering              AUTOMATIC                 22106,16
+  Schur structure                         2,3,9                    2,3,9
 
-    Minimizer iterations                        6
-    Successful steps                            6
-    Unsuccessful steps                          0
+  Cost:
+  Initial                          4.185660e+06
+  Final                            1.803390e+04
+  Change                           4.167626e+06
 
-    Time (in seconds):
-    Preprocessor                            0.261
+  Minimizer iterations                        7
+  Successful steps                            7
+  Unsuccessful steps                          0
 
-      Residual evaluation                   0.082
-      Jacobian evaluation                   0.412
-      Linear solver                         0.442
-    Minimizer                               1.051
+  Time (in seconds):
+  Preprocessor                         0.121654
 
-    Postprocessor                           0.002
-    Total                                   1.357
+    Residual only evaluation           0.065968 (7)
+    Jacobian & residual evaluation     0.303356 (7)
+    Linear solver                      0.436650 (7)
+  Minimizer                            0.890535
 
-    Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
+  Postprocessor                        0.001684
+  Total                                1.013873
+
+  Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769756e-09 <= 1.000000e-06)
 
 .. section-macos:
 
 macOS
 =====
 
-On macOS, you can either use `Homebrew
-<https://brew.sh/>`_ (recommended) or `MacPorts
-<https://www.macports.org/>`_ to install Ceres Solver.
+On macOS, you can either use `Homebrew <https://brew.sh/>`_
+(recommended) or `MacPorts <https://www.macports.org/>`_ to install
+Ceres Solver.
 
 If using `Homebrew <https://brew.sh/>`_, then
 
@@ -300,10 +299,10 @@
 
 .. code-block:: bash
 
-   tar zxf ceres-solver-2.0.0.tar.gz
+   tar zxf ceres-solver-2.1.0.tar.gz
    mkdir ceres-bin
    cd ceres-bin
-   cmake ../ceres-solver-2.0.0
+   cmake ../ceres-solver-2.1.0
    make -j3
    make test
    # Optionally install Ceres, it can also be exported using CMake which
@@ -311,53 +310,18 @@
    # documentation for the EXPORT_BUILD_DIR option for more information.
    make install
 
-Building with OpenMP on macOS
------------------------------
-
-Up to at least Xcode 12, OpenMP support was disabled in Apple's version of
-Clang.  However, you can install the latest version of the LLVM toolchain
-from Homebrew which does support OpenMP, and thus build Ceres with OpenMP
-support on macOS.  To do this, you must install llvm via Homebrew:
-
-.. code-block:: bash
-
-      # Install latest version of LLVM toolchain.
-      brew install llvm
-
-As the LLVM formula in Homebrew is keg-only, it will not be installed to
-``/usr/local`` to avoid conflicts with the standard Apple LLVM toolchain.
-To build Ceres with the Homebrew LLVM toolchain you should do the
-following:
-
-.. code-block:: bash
-
-   tar zxf ceres-solver-2.0.0.tar.gz
-   mkdir ceres-bin
-   cd ceres-bin
-   # Configure the local shell only (not persistent) to use the Homebrew LLVM
-   # toolchain in favour of the default Apple version.  This is taken
-   # verbatim from the instructions output by Homebrew when installing the
-   # llvm formula.
-   export LDFLAGS="-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib"
-   export CPPFLAGS="-I/usr/local/opt/llvm/include"
-   export PATH="/usr/local/opt/llvm/bin:$PATH"
-   # Force CMake to use the Homebrew version of Clang and enable OpenMP.
-   cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ -DCERES_THREADING_MODEL=OPENMP ../ceres-solver-2.0.0
-   make -j3
-   make test
-   # Optionally install Ceres.  It can also be exported using CMake which
-   # allows Ceres to be used without requiring installation.  See the
-   # documentation for the EXPORT_BUILD_DIR option for more information.
-   make install
-
-Like the Linux build, you should now be able to run
-``bin/simple_bundle_adjuster``.
-
 .. _section-windows:
 
 Windows
 =======
 
+`Vckpg <https://github.com/microsoft/vcpkg>`_ is the homebrew
+equivalent on Microsoft Windows and can be used to install Ceres
+Solver.
+
+If building from source on Windows, we support building with Visual
+Studio 2015.2 of newer.
+
 .. NOTE::
 
   If you find the following CMake difficult to set up, then you may
@@ -365,34 +329,8 @@
   <https://github.com/tbennun/ceres-windows>`_ for Ceres Solver by Tal
   Ben-Nun.
 
-On Windows, we support building with Visual Studio 2015.2 of newer. Note
-that the Windows port is less featureful and less tested than the
-Linux or macOS versions due to the lack of an officially supported
-way of building SuiteSparse and CXSparse.  There are however a number
-of unofficial ways of building these libraries. Building on Windows
-also a bit more involved since there is no automated way to install
-dependencies.
-
-.. NOTE:: Using ``google-glog`` & ``miniglog`` with windows.h.
-
- The windows.h header if used with GDI (Graphics Device Interface)
- defines ``ERROR``, which conflicts with the definition of ``ERROR``
- as a LogSeverity level in ``google-glog`` and ``miniglog``.  There
- are at least two possible fixes to this problem:
-
- #. Use ``google-glog`` and define ``GLOG_NO_ABBREVIATED_SEVERITIES``
-    when building Ceres and your own project, as documented `here
-    <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`__.
-    Note that this fix will not work for ``miniglog``, but use of
-    ``miniglog`` is strongly discouraged on any platform for which
-    ``google-glog`` is available (which includes Windows).
- #. If you do not require GDI, then define ``NOGDI`` **before**
-    including windows.h.  This solution should work for both
-    ``google-glog`` and ``miniglog`` and is documented for
-    ``google-glog`` `here
-    <https://code.google.com/p/google-glog/issues/detail?id=33>`__.
-
 #. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
+
 #. Get dependencies; unpack them as subdirectories in ``ceres/``
    (``ceres/eigen``, ``ceres/glog``, etc)
 
@@ -419,7 +357,7 @@
 
 #. Unpack the Ceres tarball into ``ceres``. For the tarball, you
    should get a directory inside ``ceres`` similar to
-   ``ceres-solver-2.0.0``. Alternately, checkout Ceres via ``git`` to
+   ``ceres-solver-2.1.0``. Alternately, checkout Ceres via ``git`` to
    get ``ceres-solver.git`` inside ``ceres``.
 
 #. Install ``CMake``,
diff --git a/package.xml b/package.xml
index e7e3e02..24dd29e 100644
--- a/package.xml
+++ b/package.xml
@@ -30,7 +30,7 @@
 
 <package format="2">
   <name>ceres-solver</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>A large scale non-linear optimization library.</description>
   <maintainer email="ceres-solver@googlegroups.com">
     The Ceres Solver Authors