diff --git a/README.md b/README.md
index 8a2075919a..ef287dd68d 100644
--- a/README.md
+++ b/README.md
@@ -8,9 +8,9 @@
 [![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 v0.16.0.
+**News**: We released the codebase v0.17.0.
 
-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.
+In the [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.
 
 Code and models for the best vision-only method, [FCOS3D](https://arxiv.org/abs/2104.10956), have been released. Please stay tuned for [MoCa](https://arxiv.org/abs/2012.12741).
 
@@ -62,7 +62,7 @@ This project is released under the [Apache 2.0 license](LICENSE).
 
 ## Changelog
 
-v0.16.0 was released in 1/8/2021.
+v0.17.0 was released in 1/9/2021.
 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 4fbf874a93..cfa77a480c 100644
--- a/README_zh-CN.md
+++ b/README_zh-CN.md
@@ -8,11 +8,11 @@
 [![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 v0.16.0.
+**新闻**: 我们发布了版本 v0.17.0.
 
-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。
+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。
 
-最好的纯视觉方法[FCOS3D](https://arxiv.org/abs/2104.10956)的代码和模型已经发布。请继续关注我们的多模态检测器[MoCa](https://arxiv.org/abs/2012.12741)。
+最好的纯视觉方法 [FCOS3D](https://arxiv.org/abs/2104.10956) 的代码和模型已经发布。请继续关注我们的多模态检测器 [MoCa](https://arxiv.org/abs/2012.12741)。
 
 文档: https://mmdetection3d.readthedocs.io/
 
@@ -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 v0.16.0 在 2021.08.01发布。
+最新的版本 v0.17.0 在 2021.09.01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 c74dea2fa3..47a02d8729 100644
--- a/docs/changelog.md
+++ b/docs/changelog.md
@@ -1,5 +1,52 @@
 ## Changelog
 
+
+### v0.17.0 (1/9/2021)
+
+#### Compatibility
+
+- Unify the camera keys for consistent transformation between coodinate systems on different datasets. The modification change the key names to `lidar2img`, `depth2img`, `cam2img`, etc. for easier understanding. Customized codes using legacy keys may be influenced.
+- The next release will begin to move files of CUDA ops to [MMCV](https://github.com/open-mmlab/mmcv). It will influence the way to import related functions. We will not break the compatibility but will raise a warning first and please prepare to migrate it.
+
+#### Highlights
+
+- Support 3D object detection on the S3DIS dataset
+- Support compilation on Windows
+- Full benchmark for PAConv on S3DIS
+- Further enhancement for documentation, especially on the Chinese documentation
+
+#### New Features
+
+- Support 3D object detection on the S3DIS dataset (#835)
+
+#### Improvements
+
+- Support point sampling based on distance metric (#667, #840)
+- Update PointFusion to support unified camera keys (#791)
+- Add Chinese documentation for customized dataset (#792), data pipeline (#827), customized runtime (#829), 3D Detection on ScanNet (#836), nuScenes (#854) and Waymo (#859)
+- Unify camera keys used in transformation between different systems (#805)
+- Add a script to support benchmark regression (#808)
+- Benchmark PAConvCUDA on S3DIS (#847)
+- Add a tutorial for 3D detection on the Lyft dataset (#849)
+- Support to download pdf and epub documentation (#850)
+- Change the `repeat` setting in Group-Free-3D configs to reduce training epochs (#855)
+
+#### Bug Fixes
+
+- Fix compiling errors on Windows (#766)
+- Fix the deprecated nms setting in the ImVoteNet config (#828)
+- Use the latest `wrap_fp16_model` import from mmcv (#861)
+- Remove 2D annotations generation on Lyft (#867)
+- Update index files for the Chinese documentation to be consistent with the English version (#873)
+- Fix the nested list transpose in the CenterPoint head (#879)
+- Fix deprecated pretrained model loading for RegNet (#889)
+
+#### Contributors
+
+A total of 11 developers contributed to this release.
+
+@THU17cyz, @wHao-Wu, @wangruohui, @Wuziyi616, @filaPro, @ZwwWayne, @Tai-Wang, @DCNSW, @xieenze, @robin-karlsson0, @ZCMax
+
 ### v0.16.0 (1/8/2021)
 
 #### Compatibility
diff --git a/docs/getting_started.md b/docs/getting_started.md
index 8a825be617..9433622676 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|
+| 0.17.0              | 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|
diff --git a/docs_zh-CN/getting_started.md b/docs_zh-CN/getting_started.md
index 317dbaf6a0..0e5239b325 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|
+| 0.17.0              | 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|
diff --git a/mmdet3d/version.py b/mmdet3d/version.py
index a0c9dcec27..9efec6a926 100644
--- a/mmdet3d/version.py
+++ b/mmdet3d/version.py
@@ -1,6 +1,6 @@
 # Copyright (c) Open-MMLab. All rights reserved.
 
-__version__ = '0.16.0'
+__version__ = '0.17.0'
 short_version = __version__