diff --git a/RELEASE.md b/RELEASE.md
index 6df6b794e7..6d37518387 100644
--- a/RELEASE.md
+++ b/RELEASE.md
@@ -1,5 +1,11 @@
 # Releases
 
+## Release 0.16.1
+
+  * depth odometry
+  * better performance evaluation
+  * multiple other fixes and improvements
+
 ## Release 0.16.0
 
   * project compiles with catkin
diff --git a/astrobee.doxyfile b/astrobee.doxyfile
index af6c0e24c5..d2ae0d7d60 100644
--- a/astrobee.doxyfile
+++ b/astrobee.doxyfile
@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.16.0
+PROJECT_NUMBER         = 0.16.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/astrobee/CMakeLists.txt b/astrobee/CMakeLists.txt
index bb6271bb59..574d4d1eed 100644
--- a/astrobee/CMakeLists.txt
+++ b/astrobee/CMakeLists.txt
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.16.0)
+set(ASTROBEE_VERSION 0.16.1)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)
diff --git a/debian/changelog b/debian/changelog
index 5cd459ed68..3c09cf9b41 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,11 @@
+astrobee (0.16.1) testing; urgency=medium
+
+  * depth odometry
+  * better performance evaluation
+  * multiple other fixes and improvements
+
+ -- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov>  Wed, 12 Jan 2022 14:55:11 -0800
+
 astrobee (0.16.0) testing; urgency=medium
 
   * project compiles with catkin