diff --git a/README.md b/README.md
index 99709dd931..4d0c0a98e2 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@
 [![license](https://img.shields.io/github/license/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/blob/master/LICENSE)
 
 
-**News**: We released the codebase v0.15.0.
+**News**: We released the codebase v0.16.0.
 
 In the recent [nuScenes 3D detection challenge](https://www.nuscenes.org/object-detection?externalData=all&mapData=all&modalities=Any) of the 5th AI Driving Olympics in NeurIPS 2020, we obtained the best PKL award and the second runner-up by multi-modality entry, and the best vision-only results.
 
@@ -62,7 +62,7 @@ This project is released under the [Apache 2.0 license](LICENSE).
 
 ## Changelog
 
-v0.15.0 was released in 1/7/2021.
+v0.16.0 was released in 1/8/2021.
 Please refer to [changelog.md](docs/changelog.md) for details and release history.
 
 ## Benchmark and model zoo
diff --git a/README_zh-CN.md b/README_zh-CN.md
index 58844e7e3e..141afc0aa2 100644
--- a/README_zh-CN.md
+++ b/README_zh-CN.md
@@ -8,7 +8,7 @@
 [![license](https://img.shields.io/github/license/open-mmlab/mmdetection3d.svg)](https://github.com/open-mmlab/mmdetection3d/blob/master/LICENSE)
 
 
-**新闻**: 我们发布了版本v0.15.0.
+**新闻**: 我们发布了版本 v0.16.0.
 
 在第三届[ nuScenes 3D 检测挑战赛](https://www.nuscenes.org/object-detection?externalData=all&mapData=all&modalities=Any)（第五届 AI Driving Olympics, NeurIPS 2020）中，我们获得了最佳 PKL 奖、第三名和最好的纯视觉的结果，相关的代码和模型将会在不久后发布。
 
@@ -62,7 +62,7 @@ MMDetection3D 是一个基于 PyTorch 的目标检测开源工具箱, 下一代
 
 ## 更新日志
 
-最新的版本 v0.15.0 在 2021.07.01发布。
+最新的版本 v0.16.0 在 2021.08.01发布。
 如果想了解更多版本更新细节和历史信息，请阅读[更新日志](docs/changelog.md)。
 
 ## 基准测试和模型库
diff --git a/docs/changelog.md b/docs/changelog.md
index 0d6e05e3de..d8886721b9 100644
--- a/docs/changelog.md
+++ b/docs/changelog.md
@@ -1,5 +1,56 @@
 ## Changelog
 
+### v0.16.0 (1/8/2021)
+
+#### Compatibility
+
+- Remove the rotation and dimension hack in the monocular 3D detection on nuScenes by applying corresponding transformation in the pre-processing and post-processing. The modification only influences nuScenes coco-style json files. Please re-run the data preparation scripts if necessary. See more details in the PR #744.
+- Add a new pre-processing module for the ScanNet dataset in order to support multi-view detectors. Please run the updated scripts to extract the RGB data and its annotations. See more details in the PR #696.
+
+#### Highlights
+
+- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation
+- Support PAConv [models and benchmarks](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/paconv) on S3DIS
+- Enhance the documentation especially on dataset tutorials
+
+#### New Features
+
+- Support RGB images on ScanNet for multi-view detectors (#696)
+- Support FLOPs and number of parameters calculation (#736)
+- Support to use [MIM](https://github.com/open-mmlab/mim) with pip installation (#782)
+- Support PAConv models and benchmarks on the S3DIS dataset (#783, #809)
+
+#### Improvements
+
+- Refactor Group-Free-3D to make it inherit BaseModule from MMCV (#704)
+- Modify the initialization methods of FCOS3D to be consistent with the refactored approach (#705)
+- Benchmark the Group-Free-3D [models](https://github.com/open-mmlab/mmdetection3d/tree/master/configs/groupfree3d) on ScanNet (#710)
+- Add Chinese Documentation for Getting Started (#725), FAQ (#730), Model Zoo (#735), Demo (#745), Quick Run (#746), Data Preparation (#787) and Configs (#788)
+- Add documentation for semantic segmentation on ScanNet and S3DIS (#743, #747, #806, #807)
+- Add a parameter `max_keep_ckpts` to limit the maximum number of saved Group-Free-3D checkpoints (#765)
+- Add documentation for 3D detection on SUN RGB-D and nuScenes (#770, #793)
+- Remove mmpycocotools in the Dockerfile (#785)
+
+#### Bug Fixes
+
+- Fix versions of OpenMMLab dependencies (#708)
+- Convert `rt_mat` to `torch.Tensor` in coordinate transformation for compatibility (#709)
+- Fix the `bev_range` initialization in `ObjectRangeFilter` according to the `gt_bboxes_3d` type (#717)
+- Fix Chinese documentation and incorrect doc format due to the incompatible Sphinx version (#718)
+- Fix a potential bug when setting `interval == 1` in [analyze_logs.py](https://github.com/open-mmlab/mmdetection3d/blob/master/tools/analysis_tools/analyze_logs.py) (#720)
+- Update the structure of Chinese Documentation (#722)
+- Fix FCOS3D FPN BC-Breaking caused by the code refactoring in MMDetection (#739)
+- Fix wrong `in_channels` when `with_distance=True` in the [Dynamic VFE Layers](https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/voxel_encoders/voxel_encoder.py#L87) (#749)
+- Fix the dimension and yaw hack of FCOS3D on nuScenes (#744, #794, #795, #818)
+- Fix the missing default `bbox_mode` in the `show_multi_modality_result` (#825)
+
+#### Contributors
+
+A total of 12 developers contributed to this release.
+
+@yinchimaoliang, @gopi231091, @filaPro, @ZwwWayne, @ZCMax, @hjin2902, @wHao-Wu, @Wuziyi616, @xiliu8006, @THU17cyz, @DCNSW, @Tai-Wang
+
+
 ### v0.15.0 (1/7/2021)
 
 #### Compatibility
diff --git a/docs/getting_started.md b/docs/getting_started.md
index 159f57f7fa..8d6df042c3 100644
--- a/docs/getting_started.md
+++ b/docs/getting_started.md
@@ -13,6 +13,7 @@ The required versions of MMCV, MMDetection and MMSegmentation for different vers
 | MMDetection3D version | MMDetection version | MMSegmentation version |    MMCV version     |
 |:-------------------:|:-------------------:|:-------------------:|:-------------------:|
 | master              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
+| 0.16.0              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
 | 0.15.0              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
 | 0.14.0              | mmdet>=2.10.0, <=2.11.0| mmseg==0.14.0 | mmcv-full>=1.3.1, <=1.4|
 | 0.13.0              | mmdet>=2.10.0, <=2.11.0| Not required  | mmcv-full>=1.2.4, <=1.4|
diff --git a/docs_zh-CN/getting_started.md b/docs_zh-CN/getting_started.md
index 6846ffaca2..c0d7a0528d 100644
--- a/docs_zh-CN/getting_started.md
+++ b/docs_zh-CN/getting_started.md
@@ -10,6 +10,7 @@
 | MMDetection3D version | MMDetection version | MMSegmentation version |    MMCV version     |
 |:-------------------:|:-------------------:|:-------------------:|:-------------------:|
 | master              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
+| 0.16.0              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
 | 0.15.0              | mmdet>=2.14.0, <=3.0.0| mmseg>=0.14.1, <=1.0.0 | mmcv-full>=1.3.8, <=1.4|
 | 0.14.0              | mmdet>=2.10.0, <=2.11.0| mmseg>=0.14.0 | mmcv-full>=1.3.1, <=1.4|
 | 0.13.0              | mmdet>=2.10.0, <=2.11.0| Not required  | mmcv-full>=1.2.4, <=1.4|
diff --git a/mmdet3d/version.py b/mmdet3d/version.py
index 410f0ef190..a0c9dcec27 100644
--- a/mmdet3d/version.py
+++ b/mmdet3d/version.py
@@ -1,6 +1,6 @@
 # Copyright (c) Open-MMLab. All rights reserved.
 
-__version__ = '0.15.0'
+__version__ = '0.16.0'
 short_version = __version__