Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. Based on different sensors, various approaches have been proposed and promising results have been achieved. In this talk, we will introduce our latest works on 3D object detection including sing-image-based, Lidar-only-based, and multimodal fusion-based approaches. Furthermore, the recent proposed multimodal fusion-based approach FusionPainting has outperformed other state-of-the-art methods with a big margin on the nuScenes testing benchmark and achieved the champion of 3D object detection task on the latest nuScenes challenges at ICRA 2021. We plan to release our work on Paddle3D soon.